Merge branch 'main' into JRA/TensorRT-fixes

Author: jbrhm

perception/object_detector/object_detector.cpp

@@ -40,7 +40,7 @@ namespace mrover {
     }
 
     StereoObjectDetector::StereoObjectDetector() {
-        mSensorSub = create_subscription<sensor_msgs::msg::PointCloud2>("/camera/left/points", 1, [this](sensor_msgs::msg::PointCloud2::UniquePtr const& msg) {
+        mSensorSub = create_subscription<sensor_msgs::msg::PointCloud2>("/zed/left/points", 1, [this](sensor_msgs::msg::PointCloud2::UniquePtr const& msg) {
             StereoObjectDetector::pointCloudCallback(msg);
         });
     }

perception/zed_wrapper/zed_wrapper.cpp

@@ -18,13 +18,13 @@ namespace mrover {
             RCLCPP_INFO(this->get_logger(), "Created Zed Wrapper Node, %s", NODE_NAME);
 
             // Publishers
-            mRightImgPub = create_publisher<sensor_msgs::msg::Image>("right/image", 1);
-            mLeftImgPub = create_publisher<sensor_msgs::msg::Image>("left/image", 1);
+            mRightImgPub = create_publisher<sensor_msgs::msg::Image>("zed/right/image", 1);
+            mLeftImgPub = create_publisher<sensor_msgs::msg::Image>("zed/left/image", 1);
             mImuPub = create_publisher<sensor_msgs::msg::Imu>("zed_imu/data_raw", 1);
             mMagPub = create_publisher<sensor_msgs::msg::MagneticField>("zed_imu/mag", 1);
-            mPcPub = create_publisher<sensor_msgs::msg::PointCloud2>("camera/left/points", 1);
-            mRightCamInfoPub = create_publisher<sensor_msgs::msg::CameraInfo>("camera/right/camera_info", 1);
-            mLeftCamInfoPub = create_publisher<sensor_msgs::msg::CameraInfo>("camera/left/camera_info", 1);
+            mPcPub = create_publisher<sensor_msgs::msg::PointCloud2>("zed/left/points", 1);
+            mRightCamInfoPub = create_publisher<sensor_msgs::msg::CameraInfo>("zed/right/camera_info", 1);
+            mLeftCamInfoPub = create_publisher<sensor_msgs::msg::CameraInfo>("zed/left/camera_info", 1);
 
             // Declare and set Params
             int imageWidth{};