From fa448de25f4bc7754ce5bcebdc2b87d8fe66b8d4 Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Fri, 4 Oct 2024 13:16:08 -0400
Subject: [PATCH 01/21] Update simulation.launch

---
 .../mission_control/navigator_launch/launch/simulation.launch   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/NaviGator/mission_control/navigator_launch/launch/simulation.launch b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
index 6f0543cf0..8f1339e85 100644
--- a/NaviGator/mission_control/navigator_launch/launch/simulation.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
@@ -28,7 +28,7 @@
 
     <!-- Simulation Relevant Code -->
     <include file="$(find navigator_launch)/launch/perception/classifier.launch" >
-        <arg name="main_image_topic" value="/wamv/sensors/camera/front_left_cam/image_raw"/>
+        <arg name="main_image_topic" value="camera/front_left_cam/image_raw"/>
         <arg name="use_yolo_model1" value="True"/>
         <arg name="use_yolo_model2" value="False"/>
         <arg name="weights_model1" value="$(find yolov7_ros)/src/mil_weights/best.pt" />

From 27952eb3455fa9bbe5234992eeb8efcd5e69c1d7 Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Fri, 4 Oct 2024 13:25:29 -0400
Subject: [PATCH 02/21] Update simulation.launch

---
 .../mission_control/navigator_launch/launch/simulation.launch   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/NaviGator/mission_control/navigator_launch/launch/simulation.launch b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
index 8f1339e85..d475330e2 100644
--- a/NaviGator/mission_control/navigator_launch/launch/simulation.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
@@ -28,7 +28,7 @@
 
     <!-- Simulation Relevant Code -->
     <include file="$(find navigator_launch)/launch/perception/classifier.launch" >
-        <arg name="main_image_topic" value="camera/front_left_cam/image_raw"/>
+        <arg name="main_image_topic" value="/camera/front_left_cam/image_raw"/>
         <arg name="use_yolo_model1" value="True"/>
         <arg name="use_yolo_model2" value="False"/>
         <arg name="weights_model1" value="$(find yolov7_ros)/src/mil_weights/best.pt" />

From 13574b20b7561f2d740f96de8873e864ea5f3feb Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Fri, 4 Oct 2024 13:27:56 -0400
Subject: [PATCH 03/21] Update navigator.py

---
 .../navigator_missions/navigator_missions/navigator.py    | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py b/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py
index 36c78fcbc..514bea2b9 100644
--- a/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py
+++ b/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py
@@ -317,13 +317,13 @@ async def _shutdown_not_vrx(cls):
     async def init_front_left_camera(cls):
         if cls.front_left_camera_sub is None:
             cls.front_left_camera_sub = cls.nh.subscribe(
-                "/wamv/sensors/camera/front_left_cam/image_raw",
+                "/camera/front_left_cam/image_raw",
                 Image,
             )
 
         if cls.front_left_camera_info_sub is None:
             cls.front_left_camera_info_sub = cls.nh.subscribe(
-                "/wamv/sensors/camera/front_left_cam/camera_info",
+                "/camera/front_left_cam/camera_info",
                 CameraInfo,
             )
 
@@ -336,13 +336,13 @@ async def init_front_left_camera(cls):
     async def init_front_right_camera(cls):
         if cls.front_right_camera_sub is None:
             cls.front_right_camera_sub = cls.nh.subscribe(
-                "/wamv/sensors/camera/front_right_cam/image_raw",
+                "/camera/front_right_cam/image_raw",
                 Image,
             )
 
         if cls.front_right_camera_info_sub is None:
             cls.front_right_camera_info_sub = cls.nh.subscribe(
-                "/wamv/sensors/camera/front_right_cam/camera_info",
+                "/camera/front_right_cam/camera_info",
                 CameraInfo,
             )
 

From 8046aaf6705320cd6fb814afc46af185ccda9e3d Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Fri, 4 Oct 2024 14:39:24 -0400
Subject: [PATCH 04/21] Update vrx_classifier.launch

---
 .../navigator_launch/launch/vrx/vrx_classifier.launch           | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
index 9dbf8fb02..59fc81730 100644
--- a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
@@ -2,7 +2,7 @@
 <launch>
 
     <arg name="weights" default="$(find yolov7_ros)/src/mil_weights/best.pt" />
-    <arg name="image_topic" default="/wamv/sensors/cameras/front_left_camera/image_raw" />
+    <arg name="image_topic" default="/camera/front/left/image_raw" />
     <arg name="out_topic" default="detections" />
     <arg name="conf_thresh" default="0.75" />
     <arg name="image_size" default="640" />

From 00415cd7cbbf65e0250cba79ee903c8f2fe0386f Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Fri, 4 Oct 2024 14:40:17 -0400
Subject: [PATCH 05/21] Update simulation.launch

---
 .../mission_control/navigator_launch/launch/simulation.launch   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/NaviGator/mission_control/navigator_launch/launch/simulation.launch b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
index d475330e2..cfb1165d4 100644
--- a/NaviGator/mission_control/navigator_launch/launch/simulation.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
@@ -28,7 +28,7 @@
 
     <!-- Simulation Relevant Code -->
     <include file="$(find navigator_launch)/launch/perception/classifier.launch" >
-        <arg name="main_image_topic" value="/camera/front_left_cam/image_raw"/>
+        <arg name="main_image_topic" value="/camera/front/left/image_raw"/>
         <arg name="use_yolo_model1" value="True"/>
         <arg name="use_yolo_model2" value="False"/>
         <arg name="weights_model1" value="$(find yolov7_ros)/src/mil_weights/best.pt" />

From fcb8164cac79336c8433106f0135d559d06b9f2e Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Fri, 4 Oct 2024 14:45:30 -0400
Subject: [PATCH 06/21] Update navigator.py

---
 .../navigator_missions/navigator_missions/navigator.py    | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py b/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py
index 514bea2b9..20a2e4c4c 100644
--- a/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py
+++ b/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py
@@ -317,13 +317,13 @@ async def _shutdown_not_vrx(cls):
     async def init_front_left_camera(cls):
         if cls.front_left_camera_sub is None:
             cls.front_left_camera_sub = cls.nh.subscribe(
-                "/camera/front_left_cam/image_raw",
+                "/camera/front/left/image_raw",
                 Image,
             )
 
         if cls.front_left_camera_info_sub is None:
             cls.front_left_camera_info_sub = cls.nh.subscribe(
-                "/camera/front_left_cam/camera_info",
+                "/camera/front/left/camera_info",
                 CameraInfo,
             )
 
@@ -336,13 +336,13 @@ async def init_front_left_camera(cls):
     async def init_front_right_camera(cls):
         if cls.front_right_camera_sub is None:
             cls.front_right_camera_sub = cls.nh.subscribe(
-                "/camera/front_right_cam/image_raw",
+                "/camera/front/right/image_raw",
                 Image,
             )
 
         if cls.front_right_camera_info_sub is None:
             cls.front_right_camera_info_sub = cls.nh.subscribe(
-                "/camera/front_right_cam/camera_info",
+                "/camera/front/right/camera_info",
                 CameraInfo,
             )
 

From d02dd51ff396956bccaab43757c07bf8a617f2de Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 6 Oct 2024 20:02:38 -0400
Subject: [PATCH 07/21] Update camera topics in vrx.py

---
 .../navigator_missions/vrx_missions/vrx.py                | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py
index 91514c01d..7685266fb 100644
--- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py
+++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py
@@ -134,13 +134,13 @@ def cleanup(self):
     async def init_front_left_camera(cls):
         if cls.front_left_camera_sub is None:
             cls.front_left_camera_sub = cls.nh.subscribe(
-                "/wamv/sensors/cameras/front_left_camera/image_raw",
+                "/camera/front/left/image_raw",
                 Image,
             )
 
         if cls.front_left_camera_info_sub is None:
             cls.front_left_camera_info_sub = cls.nh.subscribe(
-                "/wamv/sensors/cameras/front_left_camera/camera_info",
+                "/camera/front/left/camera_info",
                 CameraInfo,
             )
 
@@ -153,13 +153,13 @@ async def init_front_left_camera(cls):
     async def init_front_right_camera(cls):
         if cls.front_right_camera_sub is None:
             cls.front_right_camera_sub = cls.nh.subscribe(
-                "/wamv/sensors/cameras/front_right_camera/image_raw",
+                "/camera/front/right/image_raw",
                 Image,
             )
 
         if cls.front_right_camera_info_sub is None:
             cls.front_right_camera_info_sub = cls.nh.subscribe(
-                "/wamv/sensors/cameras/front_right_camera/camera_info",
+                "/camera/front/right/camera_info",
                 CameraInfo,
             )
 

From e06d77ce852e4b5ce23464a61dd24c73363848bb Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 6 Oct 2024 20:12:53 -0400
Subject: [PATCH 08/21] Update camera topic in navigator.rviz

---
 NaviGator/navigator.rviz | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/NaviGator/navigator.rviz b/NaviGator/navigator.rviz
index 401204deb..6eb67173c 100644
--- a/NaviGator/navigator.rviz
+++ b/NaviGator/navigator.rviz
@@ -344,7 +344,7 @@ Visualization Manager:
       Value: true
     - Class: rviz/Image
       Enabled: true
-      Image Topic: /wamv/sensors/camera/front_left_cam/image_raw
+      Image Topic: /camera/front/left/image_raw
       Max Value: 1
       Median window: 5
       Min Value: 0

From a299a12adb0e74d0f888f3f6a298b054c6b967db Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 6 Oct 2024 20:14:11 -0400
Subject: [PATCH 09/21] Update camera topic in vrx.rviz

---
 NaviGator/vrx.rviz | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/NaviGator/vrx.rviz b/NaviGator/vrx.rviz
index 88c68daf1..985fb2f57 100644
--- a/NaviGator/vrx.rviz
+++ b/NaviGator/vrx.rviz
@@ -420,7 +420,7 @@ Visualization Manager:
       Value: true
     - Class: rviz/Image
       Enabled: true
-      Image Topic: /wamv/sensors/cameras/front_left_camera/image_raw
+      Image Topic: camera/front/left/image_raw
       Max Value: 1
       Median window: 5
       Min Value: 0

From 894a2145c654e765baa946d8324353ecb10cdfc7 Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 20 Oct 2024 21:13:24 -0400
Subject: [PATCH 10/21] Update vrx.rviz

---
 NaviGator/vrx.rviz | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/NaviGator/vrx.rviz b/NaviGator/vrx.rviz
index 985fb2f57..8ff3d9ae7 100644
--- a/NaviGator/vrx.rviz
+++ b/NaviGator/vrx.rviz
@@ -420,7 +420,7 @@ Visualization Manager:
       Value: true
     - Class: rviz/Image
       Enabled: true
-      Image Topic: camera/front/left/image_raw
+      Image Topic: cameras/front/left/image_raw
       Max Value: 1
       Median window: 5
       Min Value: 0

From 67fb69a87de46cf6bb4231988323b40a0f600f75 Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 20 Oct 2024 21:15:13 -0400
Subject: [PATCH 11/21] Update vrx_classifier.launch

---
 .../navigator_launch/launch/vrx/vrx_classifier.launch           | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
index 59fc81730..4c292f2c5 100644
--- a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
@@ -2,7 +2,7 @@
 <launch>
 
     <arg name="weights" default="$(find yolov7_ros)/src/mil_weights/best.pt" />
-    <arg name="image_topic" default="/camera/front/left/image_raw" />
+    <arg name="image_topic" default="/cameras/front/left/image_raw" />
     <arg name="out_topic" default="detections" />
     <arg name="conf_thresh" default="0.75" />
     <arg name="image_size" default="640" />

From 0106ccea13b373b1022cdb144445104be7f1ed0c Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 20 Oct 2024 21:16:47 -0400
Subject: [PATCH 12/21] Update vrx.py

---
 .../navigator_missions/vrx_missions/vrx.py                | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py
index 7685266fb..30040f82f 100644
--- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py
+++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py
@@ -134,13 +134,13 @@ def cleanup(self):
     async def init_front_left_camera(cls):
         if cls.front_left_camera_sub is None:
             cls.front_left_camera_sub = cls.nh.subscribe(
-                "/camera/front/left/image_raw",
+                "/cameras/front/left/image_raw",
                 Image,
             )
 
         if cls.front_left_camera_info_sub is None:
             cls.front_left_camera_info_sub = cls.nh.subscribe(
-                "/camera/front/left/camera_info",
+                "/cameras/front/left/camera_info",
                 CameraInfo,
             )
 
@@ -153,13 +153,13 @@ async def init_front_left_camera(cls):
     async def init_front_right_camera(cls):
         if cls.front_right_camera_sub is None:
             cls.front_right_camera_sub = cls.nh.subscribe(
-                "/camera/front/right/image_raw",
+                "/cameras/front/right/image_raw",
                 Image,
             )
 
         if cls.front_right_camera_info_sub is None:
             cls.front_right_camera_info_sub = cls.nh.subscribe(
-                "/camera/front/right/camera_info",
+                "/cameras/front/right/camera_info",
                 CameraInfo,
             )
 

From df15c4d3105f25da26746562dda4ba1269c4bfab Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 20 Oct 2024 21:45:29 -0400
Subject: [PATCH 13/21] Remap camera topic name

---
 .../mission_control/navigator_launch/launch/simulation.launch | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/NaviGator/mission_control/navigator_launch/launch/simulation.launch b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
index cfb1165d4..3d2d5f779 100644
--- a/NaviGator/mission_control/navigator_launch/launch/simulation.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
@@ -28,10 +28,12 @@
 
     <!-- Simulation Relevant Code -->
     <include file="$(find navigator_launch)/launch/perception/classifier.launch" >
-        <arg name="main_image_topic" value="/camera/front/left/image_raw"/>
+        <arg name="main_image_topic" value="/wamv/sensors/camera/front_left_cam/image_raw"/>
         <arg name="use_yolo_model1" value="True"/>
         <arg name="use_yolo_model2" value="False"/>
         <arg name="weights_model1" value="$(find yolov7_ros)/src/mil_weights/best.pt" />
+
+        <remap from="/wamv/sensors/camera/front_left_cam/image_raw" to="camera/front/left/image_raw"/>
     </include>
     <include file="$(find navigator_launch)/launch/vrx/vrx_tf.launch" />
     <include file="$(find navigator_launch)/launch/vrx/vrx_localization.launch" />

From fb6603e303371d174a2442ab9f74ab2f43aa4528 Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 20 Oct 2024 21:47:37 -0400
Subject: [PATCH 14/21] Update vrx_classifier.launch

---
 .../navigator_launch/launch/vrx/vrx_classifier.launch         | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
index 4c292f2c5..99ebfb3fe 100644
--- a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
@@ -2,13 +2,15 @@
 <launch>
 
     <arg name="weights" default="$(find yolov7_ros)/src/mil_weights/best.pt" />
-    <arg name="image_topic" default="/cameras/front/left/image_raw" />
+    <arg name="image_topic" default="/wamv/sensors/cameras/front_left_camera/image_raw" />
     <arg name="out_topic" default="detections" />
     <arg name="conf_thresh" default="0.75" />
     <arg name="image_size" default="640" />
     <arg name="device" default="cpu" />
     <arg name="use_yolo" default="False"/>
 
+    <remap from="/wamv/sensors/cameras/front_left_camera/image_raw" to="camera/front/left/image_raw"/>
+
     <!-- Use YOLOv7 -->
     <include if="$(arg use_yolo)" file="$(find yolov7_ros)/launch/yolov7.launch">
         <arg name="weights" value="$(arg weights)"/>

From 71e47efcdb9a0d9f72f9dcdadb70a5af4572ae11 Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 20 Oct 2024 21:48:57 -0400
Subject: [PATCH 15/21] Update vrx.rviz

---
 NaviGator/vrx.rviz | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/NaviGator/vrx.rviz b/NaviGator/vrx.rviz
index 8ff3d9ae7..985fb2f57 100644
--- a/NaviGator/vrx.rviz
+++ b/NaviGator/vrx.rviz
@@ -420,7 +420,7 @@ Visualization Manager:
       Value: true
     - Class: rviz/Image
       Enabled: true
-      Image Topic: cameras/front/left/image_raw
+      Image Topic: camera/front/left/image_raw
       Max Value: 1
       Median window: 5
       Min Value: 0

From 1befb0cc77e90b44310e268da51900b508198231 Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 20 Oct 2024 21:50:25 -0400
Subject: [PATCH 16/21] Update vrx.rviz

---
 NaviGator/vrx.rviz | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/NaviGator/vrx.rviz b/NaviGator/vrx.rviz
index 985fb2f57..9ed388254 100644
--- a/NaviGator/vrx.rviz
+++ b/NaviGator/vrx.rviz
@@ -420,7 +420,7 @@ Visualization Manager:
       Value: true
     - Class: rviz/Image
       Enabled: true
-      Image Topic: camera/front/left/image_raw
+      Image Topic: /camera/front/left/image_raw
       Max Value: 1
       Median window: 5
       Min Value: 0

From 4e18df1d5d5b908acc870d825081b86e9c6f4979 Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 20 Oct 2024 21:51:23 -0400
Subject: [PATCH 17/21] Update simulation.launch

---
 .../mission_control/navigator_launch/launch/simulation.launch   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/NaviGator/mission_control/navigator_launch/launch/simulation.launch b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
index 3d2d5f779..cfe449f03 100644
--- a/NaviGator/mission_control/navigator_launch/launch/simulation.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
@@ -33,7 +33,7 @@
         <arg name="use_yolo_model2" value="False"/>
         <arg name="weights_model1" value="$(find yolov7_ros)/src/mil_weights/best.pt" />
 
-        <remap from="/wamv/sensors/camera/front_left_cam/image_raw" to="camera/front/left/image_raw"/>
+        <remap from="/wamv/sensors/camera/front_left_cam/image_raw" to="/camera/front/left/image_raw"/>
     </include>
     <include file="$(find navigator_launch)/launch/vrx/vrx_tf.launch" />
     <include file="$(find navigator_launch)/launch/vrx/vrx_localization.launch" />

From 67f50d7ae54652f7aa7f87aed59fb3cfd7c3a98d Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 20 Oct 2024 21:51:56 -0400
Subject: [PATCH 18/21] Update vrx_classifier.launch

---
 .../navigator_launch/launch/vrx/vrx_classifier.launch           | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
index 99ebfb3fe..1f374e60e 100644
--- a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
@@ -9,7 +9,7 @@
     <arg name="device" default="cpu" />
     <arg name="use_yolo" default="False"/>
 
-    <remap from="/wamv/sensors/cameras/front_left_camera/image_raw" to="camera/front/left/image_raw"/>
+    <remap from="/wamv/sensors/cameras/front_left_camera/image_raw" to="/camera/front/left/image_raw"/>
 
     <!-- Use YOLOv7 -->
     <include if="$(arg use_yolo)" file="$(find yolov7_ros)/launch/yolov7.launch">

From 7318f062fb6b54ab316f200c4c769033cc5ab583 Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 20 Oct 2024 21:53:11 -0400
Subject: [PATCH 19/21] Update vrx.py

---
 .../navigator_missions/vrx_missions/vrx.py                | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py
index 30040f82f..7685266fb 100644
--- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py
+++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py
@@ -134,13 +134,13 @@ def cleanup(self):
     async def init_front_left_camera(cls):
         if cls.front_left_camera_sub is None:
             cls.front_left_camera_sub = cls.nh.subscribe(
-                "/cameras/front/left/image_raw",
+                "/camera/front/left/image_raw",
                 Image,
             )
 
         if cls.front_left_camera_info_sub is None:
             cls.front_left_camera_info_sub = cls.nh.subscribe(
-                "/cameras/front/left/camera_info",
+                "/camera/front/left/camera_info",
                 CameraInfo,
             )
 
@@ -153,13 +153,13 @@ async def init_front_left_camera(cls):
     async def init_front_right_camera(cls):
         if cls.front_right_camera_sub is None:
             cls.front_right_camera_sub = cls.nh.subscribe(
-                "/cameras/front/right/image_raw",
+                "/camera/front/right/image_raw",
                 Image,
             )
 
         if cls.front_right_camera_info_sub is None:
             cls.front_right_camera_info_sub = cls.nh.subscribe(
-                "/cameras/front/right/camera_info",
+                "/camera/front/right/camera_info",
                 CameraInfo,
             )
 

From 4f017d41c4fb02fe142601b73f68b07d19f4a0a6 Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 20 Oct 2024 22:36:49 -0400
Subject: [PATCH 20/21] Add comment about remapping topic name

---
 .../mission_control/navigator_launch/launch/simulation.launch    | 1 +
 1 file changed, 1 insertion(+)

diff --git a/NaviGator/mission_control/navigator_launch/launch/simulation.launch b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
index cfe449f03..4ce41f1ae 100644
--- a/NaviGator/mission_control/navigator_launch/launch/simulation.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/simulation.launch
@@ -33,6 +33,7 @@
         <arg name="use_yolo_model2" value="False"/>
         <arg name="weights_model1" value="$(find yolov7_ros)/src/mil_weights/best.pt" />
 
+        <!-- Remaps old simulation-specific camera topic name to real-life camera topic name -->
         <remap from="/wamv/sensors/camera/front_left_cam/image_raw" to="/camera/front/left/image_raw"/>
     </include>
     <include file="$(find navigator_launch)/launch/vrx/vrx_tf.launch" />

From c7bb70b8ce2f79e87a81aaec8307d4665938503c Mon Sep 17 00:00:00 2001
From: Tanushree Hadavale <147886719+thadavale@users.noreply.github.com>
Date: Sun, 20 Oct 2024 22:37:45 -0400
Subject: [PATCH 21/21] Update vrx_classifier.launch

---
 .../navigator_launch/launch/vrx/vrx_classifier.launch            | 1 +
 1 file changed, 1 insertion(+)

diff --git a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
index 1f374e60e..62cb1b4ae 100644
--- a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch
@@ -9,6 +9,7 @@
     <arg name="device" default="cpu" />
     <arg name="use_yolo" default="False"/>
 
+    <!-- Remaps old simulation-specific camera topic name to real-life camera topic name -->
     <remap from="/wamv/sensors/cameras/front_left_camera/image_raw" to="/camera/front/left/image_raw"/>
 
     <!-- Use YOLOv7 -->