ETHZ-RobotX · deepanaishtaweera · Jun 8, 2025 · Jun 8, 2025 · Jun 11, 2025 · Jun 9, 2025
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -12,6 +12,7 @@ install(
   DIRECTORY 
   launch
   config
+  rviz
   DESTINATION share/${PROJECT_NAME}
 )
 

diff --git a/config/smb261.cam0.yaml → config/smb261_cam0.yaml b/config/smb261.cam0.yaml → config/smb261_cam0.yaml
@@ -1,6 +1,6 @@
 image_width: 1440
 image_height: 1080
-camera_name: 0
+camera_name: rgb_camera
 camera_matrix:
   rows: 3
   cols: 3

diff --git a/config/smb264_cam0.yaml b/config/smb264_cam0.yaml
@@ -1,6 +1,6 @@
 image_width: 1440
 image_height: 1080
-camera_name: 0
+camera_name: rgb_camera
 camera_matrix:
   rows: 3
   cols: 3

diff --git a/config/twist_mux_topics.yaml b/config/twist_mux_topics.yaml
@@ -0,0 +1,19 @@
+# Input topics handled/muxed.
+# For each topic:
+# - name    : name identifier to select the topic (*sub-namespace, see below)
+# - topic   : input topic of geometry_msgs::Twist type
+# - timeout : timeout in seconds to start discarding old messages, and use 0.0 speed instead
+# - priority: priority in the range [0, 255]; the higher the more priority over other topics
+
+twist_mux:
+  ros__parameters:
+    use_stamped: true  # Use stamped messages (geometry_msgs::TwistStamped) if available
+    topics:
+      navigation:
+        topic   : nav_vel
+        timeout : 0.5
+        priority: 10
+      joystick:
+        topic   : rc_vel
+        timeout : 0.5
+        priority: 100
diff --git a/launch/flir_camera.launch.py b/launch/flir_camera.launch.py
diff --git a/launch/jetson_rgb_camera.launch.py b/launch/jetson_rgb_camera.launch.py
diff --git a/launch/motor_controller.launch.py b/launch/motor_controller.launch.py
-Original file line number
+Diff line change
@@ Expand Up / @@ -12,6 +12,7 @@ install( @@
       DIRECTORY
       launch
       config
+      rviz
       DESTINATION share/${PROJECT_NAME}
     )
@@ Expand Down @@