updated topic naming conventions

uci-uav-forge · Aug 23, 2023 · d1e8c65 · d1e8c65
1 parent 04d3a83
commit d1e8c65
Show file tree

Hide file tree

Showing 3 changed files with 10 additions and 10 deletions.
diff --git a/scripts/commander_node.py b/scripts/commander_node.py
@@ -34,19 +34,19 @@ def __init__(self):
         ''' This section talks to our ROS network '''
         # publisher for gps and altitude feedback in desired format
         self.gps_alt_pub = self.create_publisher(
-            GpsAltitudePosition, '/commander/gps_altitude_position', qos_profile)
+            GpsAltitudePosition, '/commander/out/gps_altitude_position', qos_profile)
         # publisher position, velocity, angle, and angle rate feedback in desired format
         self.ned_enu_odom_pub = self.create_publisher(
-            NedEnuOdometry, '/commander/ned_enu_odometry', qos_profile)
+            NedEnuOdometry, '/commander/out/ned_enu_odometry', qos_profile)
         # tell the trajectory planner where to plan for
         self.traj_plan_pub = self.create_publisher(
-            NedEnuOdometry, '/commander/trajectory_planner_command', qos_profile)
+            NedEnuOdometry, '/commander/out/trajectory_planner_command', qos_profile)
 
         # subscribe to topics owned by slave process nodes
         self.traj_plan_sub = self.create_subscription(
-            NedEnuSetpoint, '/trajectory_planner/ned_enu_setpoint', self.traj_plan_cb, qos_profile)
+            NedEnuSetpoint, '/commander/in/ned_enu_setpoint', self.traj_plan_cb, qos_profile)
         self.wp_tracker_sub = self.create_subscription(
-            NedEnuWaypoint, '/waypoint_tracker/ned_enu_waypoint', self.wp_tracker_cb, qos_profile
+            NedEnuWaypoint, '/waypoint_tracker/out/ned_enu_waypoint', self.wp_tracker_cb, qos_profile
         )
 
 

diff --git a/scripts/trajectory_planner_node.py b/scripts/trajectory_planner_node.py
@@ -26,11 +26,11 @@ def __init__(self, is_ENU:bool, is_inertial:bool, time_step:float):
         )
 
         self.ned_enu_odom_sub = self.create_subscription(
-            NedEnuOdometry, '/commander/ned_enu_odometry', self.odom_cb, qos_profile)
+            NedEnuOdometry, '/commander/out/ned_enu_odometry', self.odom_cb, qos_profile)
         self.commander_sub = self.create_subscription(
-            NedEnuOdometry, '/commander/trajectory_planner_command', self.commander_cb, qos_profile)
+            NedEnuOdometry, '/commander/out/trajectory_planner_command', self.commander_cb, qos_profile)
         self.ned_enu_setpt_pub = self.create_publisher(
-            NedEnuSetpoint, '/trajectory_planner/ned_enu_setpoint', qos_profile)
+            NedEnuSetpoint, '/commander/in/ned_enu_setpoint', qos_profile)
 
         self.planner = self.init_planner(time_step)
         self.is_ENU = is_ENU

diff --git a/scripts/waypoint_tracker_node.py b/scripts/waypoint_tracker_node.py
@@ -29,9 +29,9 @@ def __init__(self, waypoint_list:list, epsilon=10.0):
         )
 
         self.ned_enu_odom_sub = self.create_subscription(
-            NedEnuOdometry, '/commander/ned_enu_odometry', self.odom_cb, qos_profile)
+            NedEnuOdometry, '/commander/out/ned_enu_odometry', self.odom_cb, qos_profile)
         self.waypoint_pub = self.create_publisher(
-            NedEnuWaypoint, '/waypoint_tracker/ned_enu_waypoint', qos_profile)
+            NedEnuWaypoint, '/waypoint_tracker/out/ned_enu_waypoint', qos_profile)
 
         self.is_ENU = True
         self.epsilon = epsilon