adding mass topic and bluefox tf

ctu-mrs · Mar 21, 2024 · c88ff16 · c88ff16
1 parent 055cca3
commit c88ff16
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/config/default.yaml b/config/default.yaml
@@ -17,6 +17,7 @@ want_hz: [
       ]
 
 tf_static_list: [
+      "bluefox_down bluefox_down/camera_info BFox Down 20",
       "bluefox_front bluefox_front/camera_info BFox Front 20",
       "bluefox_optflow bluefox_optflow/camera_info BFox Optflow 50",
       "bluefox_optflow_optical bluefox_optflow/camera_info BFox Optflow 50",

diff --git a/launch/acquisition.launch b/launch/acquisition.launch
@@ -48,7 +48,7 @@
       <remap from="~automatic_start_in" to="automatic_start/can_takeoff" />
       <remap from="~throttle_in" to="control_manager/throttle" />
       <remap from="~mass_estimate_in" to="control_manager/mass_estimate" />
-      <remap from="~mass_set_in" to="TODO_PROVIDE_MASS_SET_TOPIC" />
+      <remap from="~mass_set_in" to="control_manager/mass_nominal" />
       <remap from="~mag_in" to="hw_api/magnetic_field" />
       <remap from="~string_in" to="mrs_uav_status/display_string" />