From 39852978d0255388d5e911863f81d48029148fbc Mon Sep 17 00:00:00 2001
From: pedro-fuoco <pedrofuoco6@gmail.com>
Date: Wed, 30 Aug 2023 13:09:36 -0300
Subject: [PATCH] Copter: default topic names

---
 ardupilot_gz_bringup/config/iris_bridge.yaml            | 4 ++--
 ardupilot_gz_bringup/config/iris_lidar_bridge.yaml      | 6 +++---
 ardupilot_gz_bringup/launch/robots/iris.launch.py       | 4 ----
 ardupilot_gz_bringup/launch/robots/iris_lidar.launch.py | 4 ----
 4 files changed, 5 insertions(+), 13 deletions(-)

diff --git a/ardupilot_gz_bringup/config/iris_bridge.yaml b/ardupilot_gz_bringup/config/iris_bridge.yaml
index 8002a0c..880d111 100644
--- a/ardupilot_gz_bringup/config/iris_bridge.yaml
+++ b/ardupilot_gz_bringup/config/iris_bridge.yaml
@@ -14,12 +14,12 @@
   ros_type_name: "nav_msgs/msg/Odometry"
   gz_type_name: "gz.msgs.Odometry"
   direction: GZ_TO_ROS
-- ros_topic_name: "tf"
+- ros_topic_name: "gz/tf"
   gz_topic_name: "/model/iris/pose"
   ros_type_name: "tf2_msgs/msg/TFMessage"
   gz_type_name: "gz.msgs.Pose_V"
   direction: GZ_TO_ROS
-- ros_topic_name: "tf_static"
+- ros_topic_name: "gz/tf_static"
   gz_topic_name: "/model/iris/pose_static"
   ros_type_name: "tf2_msgs/msg/TFMessage"
   gz_type_name: "gz.msgs.Pose_V"
diff --git a/ardupilot_gz_bringup/config/iris_lidar_bridge.yaml b/ardupilot_gz_bringup/config/iris_lidar_bridge.yaml
index ac9eac6..237be93 100644
--- a/ardupilot_gz_bringup/config/iris_lidar_bridge.yaml
+++ b/ardupilot_gz_bringup/config/iris_lidar_bridge.yaml
@@ -14,12 +14,12 @@
   ros_type_name: "nav_msgs/msg/Odometry"
   gz_type_name: "gz.msgs.Odometry"
   direction: GZ_TO_ROS
-- ros_topic_name: "tf"
+- ros_topic_name: "gz/tf"
   gz_topic_name: "/model/iris/pose"
   ros_type_name: "tf2_msgs/msg/TFMessage"
   gz_type_name: "gz.msgs.Pose_V"
   direction: GZ_TO_ROS
-- ros_topic_name: "tf_static"
+- ros_topic_name: "gz/tf_static"
   gz_topic_name: "/model/iris/pose_static"
   ros_type_name: "tf2_msgs/msg/TFMessage"
   gz_type_name: "gz.msgs.Pose_V"
@@ -31,7 +31,7 @@
   gz_type_name: "gz.msgs.IMU"
   direction: GZ_TO_ROS
 
-- ros_topic_name: "laser/scan"
+- ros_topic_name: "scan"
   gz_topic_name: "/lidar"
   ros_type_name: "sensor_msgs/msg/LaserScan"
   gz_type_name: "gz.msgs.LaserScan"
diff --git a/ardupilot_gz_bringup/launch/robots/iris.launch.py b/ardupilot_gz_bringup/launch/robots/iris.launch.py
index 6bedcd3..4e39dcc 100644
--- a/ardupilot_gz_bringup/launch/robots/iris.launch.py
+++ b/ardupilot_gz_bringup/launch/robots/iris.launch.py
@@ -131,10 +131,6 @@ def generate_launch_description():
         parameters=[
             {"robot_description": robot_desc},
         ],
-        remappings=[
-            ("/tf", "/ap/tf"),
-            ("/tf_static", "/ap/tf_static"),
-        ],
     )
 
     # Bridge.
diff --git a/ardupilot_gz_bringup/launch/robots/iris_lidar.launch.py b/ardupilot_gz_bringup/launch/robots/iris_lidar.launch.py
index c61a495..6bcab33 100644
--- a/ardupilot_gz_bringup/launch/robots/iris_lidar.launch.py
+++ b/ardupilot_gz_bringup/launch/robots/iris_lidar.launch.py
@@ -134,10 +134,6 @@ def generate_launch_description():
         parameters=[
             {"robot_description": robot_desc},
         ],
-        remappings=[
-            ("/tf", "/ap/tf"),
-            ("/tf_static", "/ap/tf_static"),
-        ],
     )
 
     # Bridge.