1281 migrate simulated and world camera topic names to consistent format

NaviGator/mission_control/navigator_launch/launch/simulation.launch

@@ -32,6 +32,9 @@
         <arg name="use_yolo_model1" value="True"/>
         <arg name="use_yolo_model2" value="False"/>
         <arg name="weights_model1" value="$(find yolov7_ros)/src/mil_weights/best.pt" />
+
+        <!-- Remaps old simulation-specific camera topic name to real-life camera topic name -->
+        <remap from="/wamv/sensors/camera/front_left_cam/image_raw" to="/camera/front/left/image_raw"/>
     </include>
     <include file="$(find navigator_launch)/launch/vrx/vrx_tf.launch" />
     <include file="$(find navigator_launch)/launch/vrx/vrx_localization.launch" />

NaviGator/mission_control/navigator_launch/launch/vrx/vrx_classifier.launch

@@ -9,6 +9,9 @@
     <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 -->
     <include if="$(arg use_yolo)" file="$(find yolov7_ros)/launch/yolov7.launch">
         <arg name="weights" value="$(arg weights)"/>

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/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/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/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/camera_info",
                 CameraInfo,
             )
 

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,
             )
 

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

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