From 0c153a5cf7d87356800c253b1f589d2ce097bdb7 Mon Sep 17 00:00:00 2001
From: Nathan Wright <51861722+NateWright@users.noreply.github.com>
Date: Thu, 6 Jan 2022 17:15:49 -0500
Subject: [PATCH] Update start_rtab.launch

Launch file used wrong topics for sim.
---
 stretch_rtabmap/launch/start_rtab.launch | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/stretch_rtabmap/launch/start_rtab.launch b/stretch_rtabmap/launch/start_rtab.launch
index d0a7141..b6f83bd 100644
--- a/stretch_rtabmap/launch/start_rtab.launch
+++ b/stretch_rtabmap/launch/start_rtab.launch
@@ -10,12 +10,12 @@
 
 
   <group if="$(arg sim)">
-    <arg name="pointcloud_topic" default="/realsense/depth/image_raw"/>
+    <arg name="pointcloud_topic" default="/camera/depth/image_raw"/>
     <arg name="cmd_vel_topic" value="/stretch_diff_drive_controller/cmd_vel"/>
     <arg name="odom_topic" default="/stretch_diff_drive_controller/odom"/>
     <arg name="scan_topic" default="/scan"/>
-    <arg name="rgb_topic" default="/realsense/color/image_raw"/>
-    <arg name="rgb_camera_info" default="/realsense/color/camera_info"/>
+    <arg name="rgb_topic" default="/camera/color/image_raw"/>
+    <arg name="rgb_camera_info" default="/camera/color/camera_info"/>
 
     <include file="$(find stretch_rtabmap)/launch/move_base.launch">
       <arg name="config" value="$(arg move_base_config)" />