From b66d5b905725351dd71d3251a06cd3f4c777940f Mon Sep 17 00:00:00 2001
From: lukeschmitt-tr <85308904+lukeschmitt-tr@users.noreply.github.com>
Date: Thu, 2 Jan 2025 11:27:43 -0600
Subject: [PATCH] [xsarm_perception] Fix rs_camera topics (#237)

Fix rs_camera topics
---
 .../launch/xsarm_perception.launch.py                       | 6 +++---
 .../interbotix_xsarm_perception/rviz/xsarm_perception.rviz  | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/interbotix_ros_xsarms/interbotix_xsarm_perception/launch/xsarm_perception.launch.py b/interbotix_ros_xsarms/interbotix_xsarm_perception/launch/xsarm_perception.launch.py
index 51d446d2..0764be6b 100644
--- a/interbotix_ros_xsarms/interbotix_xsarm_perception/launch/xsarm_perception.launch.py
+++ b/interbotix_ros_xsarms/interbotix_xsarm_perception/launch/xsarm_perception.launch.py
@@ -342,7 +342,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             'cloud_topic',
-            default_value='/camera/depth/color/points',
+            default_value='/camera/camera/depth/color/points',
             description='the absolute ROS topic name to subscribe to raw pointcloud data.',
         )
     )
@@ -374,14 +374,14 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             'camera_color_topic',
-            default_value='camera/color/image_raw',
+            default_value='/camera/camera/color/image_raw',
             description='the absolute ROS topic name to subscribe to color images.',
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             'camera_info_topic',
-            default_value='camera/color/camera_info',
+            default_value='/camera/camera/color/camera_info',
             description='the absolute ROS topic name to subscribe to the camera color info.',
         )
     )
diff --git a/interbotix_ros_xsarms/interbotix_xsarm_perception/rviz/xsarm_perception.rviz b/interbotix_ros_xsarms/interbotix_xsarm_perception/rviz/xsarm_perception.rviz
index c785d9d5..620ff3d6 100644
--- a/interbotix_ros_xsarms/interbotix_xsarm_perception/rviz/xsarm_perception.rviz
+++ b/interbotix_ros_xsarms/interbotix_xsarm_perception/rviz/xsarm_perception.rviz
@@ -107,7 +107,7 @@ Visualization Manager:
             Durability Policy: Volatile
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /camera/color/image_raw
+            Value: /camera/camera/color/image_raw
           Value: true
         - Class: rviz_default_plugins/Marker
           Enabled: true