refactor: update topic namespaces

vortexntnu · Jan 5, 2025 · 82d4ed8 · 82d4ed8
1 parent d56a2e5
commit 82d4ed8
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/mission/joystick_interface/joystick_interface/joystick_interface.py b/mission/joystick_interface/joystick_interface/joystick_interface.py
@@ -84,10 +84,10 @@ def __init__(self):
 
         self.joystick_axes_map_ = []
 
-        self.joy_subscriber_ = self.create_subscription(Joy, "joystick/joy",
+        self.joy_subscriber_ = self.create_subscription(Joy, "freya/joy",
                                                        self.joystick_cb, 1)
         self.wrench_publisher_ = self.create_publisher(Wrench,
-                                                      "thrust/wrench_input",
+                                                      "freya/thrust/wrench_input",
                                                       1)
 
         self.declare_parameter('surge_scale_factor', 50.0)

diff --git a/motion/thruster_allocator/src/allocator_ros.cpp b/motion/thruster_allocator/src/allocator_ros.cpp
@@ -29,13 +29,13 @@ ThrusterAllocator::ThrusterAllocator()
       num_dof_, num_thrusters_);
 
   wrench_subscriber_ = this->create_subscription<geometry_msgs::msg::Wrench>(
-      "thrust/wrench_input", 1,
+      "freya/thrust/wrench_input", 1,
       std::bind(&ThrusterAllocator::wrench_callback, this,
                 std::placeholders::_1));
 
   thruster_forces_publisher_ =
       this->create_publisher<std_msgs::msg::Float32MultiArray>(
-          "thrust/thruster_forces", 1);
+          "freya/thrust/thruster_forces", 1);
 
   calculate_thrust_timer_ = this->create_wall_timer(
       100ms, std::bind(&ThrusterAllocator::calculate_thrust_timer_cb, this));