Changed the remaps to coincide with the real robot topic names.

launch/visual_gps.launch

@@ -4,26 +4,26 @@
   </node>
 
   <node pkg="nodelet" type="nodelet" name="blob_detector_color1" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen">
-    <remap from="~/image_in/image_raw" to="/camera/image_raw"/>
-    <remap from="~/image_in/camera_info" to="/camera/camera_info"/>
+    <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/>
+    <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
     <remap from="~/blobs" to="/visual_gps/color1_blobs"/>
     <rosparam file="$(find iri_blob_detector)/config/default_params.yaml" command="load" />
   </node>
   <node pkg="nodelet" type="nodelet" name="blob_detector_color2" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen">
-    <remap from="~/image_in/image_raw" to="/camera/image_raw"/>
-    <remap from="~/image_in/camera_info" to="/camera/camera_info"/>
+    <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/>
+    <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
     <remap from="~/blobs" to="/visual_gps/color2_blobs"/>
     <rosparam file="$(find iri_blob_detector)/config/default_params.yaml" command="load" />
   </node>
   <node pkg="nodelet" type="nodelet" name="blob_detector_color3" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen">
-    <remap from="~/image_in/image_raw" to="/camera/image_raw"/>
-    <remap from="~/image_in/camera_info" to="/camera/camera_info"/>
+    <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/>
+    <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
     <remap from="~/blobs" to="/visual_gps/color3_blobs"/>
     <rosparam file="$(find iri_blob_detector)/config/default_params.yaml" command="load" />
   </node>
   <node pkg="nodelet" type="nodelet" name="blob_detector_color4" args="load iri_blob_detector/BlobDetectorNodelet visual_gps_nodelet" output="screen">
-    <remap from="~/image_in/image_raw" to="/camera/image_raw"/>
-    <remap from="~/image_in/camera_info" to="/camera/camera_info"/>
+    <remap from="~/image_in/image_raw" to="/usb_cam/image_raw"/>
+    <remap from="~/image_in/camera_info" to="/usb_cam/camera_info"/>
     <remap from="~/blobs" to="/visual_gps/color4_blobs"/>
     <rosparam file="$(find iri_blob_detector)/config/default_params.yaml" command="load" />
   </node>
@@ -44,16 +44,16 @@
     <param name="auto_exposure" value="0"/> <!-- use aperture_priority auto exposure -->
     <param name="auto_exposure_priority" value="0"/>
     <param name="exposure_absolute" value="0.90"/> <!-- use aperture_priority auto exposure -->
-    <remap from="/image_raw" to="/camera/image_raw"/>
-    <remap from="/camera_info" to="/camera/camera_info"/>
+    <remap from="/image_raw" to="/usb_cam/image_raw"/>
+    <remap from="/camera_info" to="/usb_cam/camera_info"/>
   </node>
 
   <node pkg="iri_visual_gps" 
         type="iri_visual_gps" 
         name="visual_gps" 
         output="screen">
-    <remap from="~/camera/camera_info" to="/camera/camera_info"/>
-    <remap from="~/set_camera_params" to="/camera/set_parameters"/>
+    <remap from="~/camera/camera_info" to="/usb_cam/camera_info"/>
+    <remap from="~/set_camera_params" to="/usb_cam/set_parameters"/>
     <rosparam file="$(find iri_visual_gps)/config/default_params.yaml" command="load" />
   </node>
 </launch>