WIP working camera code from before gps exploded lmao

Author: onkoe

src/drive_launcher/launch/drive.launch.py

@@ -31,7 +31,7 @@ def generate_launch_description() -> LaunchDescription:
                             ]
                         )
                     ]
-                )
+                ),
             ),
             #
             # and `ebox.launch.py` is the ebox <=> autonomous communication

src/drive_launcher/launch/helpers/navigation_stack.launch.py

@@ -10,7 +10,6 @@
 from launch.substitutions import (
     LaunchConfiguration,
     PathJoinSubstitution,
-    PythonExpression,
 )
 from launch_ros.actions import Node, SetParameter
 from launch_ros.actions.node import ExecuteProcess
@@ -166,8 +165,7 @@ def _slam_toolbox(
             "launch",
             "drive_launcher",
             "slam_toolbox.launch.py",
-            # 😮‍💨 yet another hack...
-            PythonExpression(["'use_sim_time:=' + str(", use_sim_time, ")"]),
+            ["use_sim_time:=", use_sim_time],
         ],
         shell=True,
         output="screen",

src/drive_launcher/launch/rover.zed.launch.py

@@ -115,9 +115,7 @@ def generate_launch_description() -> LaunchDescription:
 
     return LaunchDescription(
         [
-            DeclareLaunchArgument(
-                "use_sim_time",
-            ),
+            DeclareLaunchArgument("use_sim_time", default_value="False"),
             utm_conversion_node,
             robot_state_publisher,
             robot_localization,

src/zed/launch/zed_official.launch.py

@@ -18,9 +18,9 @@ def generate_launch_description() -> LaunchDescription:
             [
                 PathJoinSubstitution(
                     [
-                        pkg_zed,
+                        get_package_share_directory("zed_wrapper"),
                         "launch",
-                        "internal.launch.py",
+                        "zed_camera.launch.py",
                     ]
                 )
             ]
@@ -32,15 +32,18 @@ def generate_launch_description() -> LaunchDescription:
             ("namespace", "/sensors/depth_image"),
             #
             # let other nodes take care of publishing to the tf tree
-            ("publish_map_tf", "false"),
-            ("publish_imu_tf", "false"),
+            # ("publish_map_tf", "false"),
+            # ("publish_imu_tf", "false"),
             #
             # provide the correct path to the Rover URDF (3d model)
-            ("xacro_path", f"{pkg_simulator}/resource/rover.urdf.xacro.xml"),
+            # ("xacro_path", f"{pkg_simulator}/resource/rover.urdf.xacro.xml"),
             #
             # configure the wrapper to use our sensors while mapping. this can
             # increase accuracy and help in other subtle ways
             ("enable_gnss", "true"),
+            #
+            # use config file with QoS overrides for GPS topic compatibility
+            ("ros_params_override_path", f"{get_package_share_directory('zed_wrapper')}/config/common_stereo.yaml"),
         ],
     )