From 6a805aaa91d90b5abe234017be5b47ee1ff78542 Mon Sep 17 00:00:00 2001
From: HRIStudio Integration <integration@hristudio.com>
Date: Sat, 21 Mar 2026 17:56:47 -0400
Subject: [PATCH] fix: Update ros2Config topics to match naoqi_driver namespace

- Remove /naoqi_driver/ prefix from all topic names
- Topics are published/subscribed without prefix in naoqi_driver
- Affects: cmd_vel, joint_states, joint_angles, cameras, imu, speech, bumper, touch sensors, sonar, info

This fixes the mismatch between plugin topic definitions and actual ROS topics exposed by the naoqi_driver node.
---
 plugins/nao6-ros2.json | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/plugins/nao6-ros2.json b/plugins/nao6-ros2.json
index 77e1853..a58b5cb 100755
--- a/plugins/nao6-ros2.json
+++ b/plugins/nao6-ros2.json
@@ -62,18 +62,18 @@
     "defaultTopics": {
       "cmd_vel": "/cmd_vel",
       "odom": "/odom",
-      "joint_states": "/naoqi_driver/joint_states",
+      "joint_states": "/joint_states",
       "joint_angles": "/joint_angles",
-      "camera_front": "/naoqi_driver/camera/front/image_raw",
-      "camera_bottom": "/naoqi_driver/camera/bottom/image_raw",
-      "imu": "/naoqi_driver/imu/torso",
+      "camera_front": "/camera/front/image_raw",
+      "camera_bottom": "/camera/bottom/image_raw",
+      "imu": "/imu/torso",
       "speech": "/speech",
-      "bumper": "/naoqi_driver/bumper",
-      "hand_touch": "/naoqi_driver/hand_touch",
-      "head_touch": "/naoqi_driver/head_touch",
-      "sonar_left": "/naoqi_driver/sonar/left",
-      "sonar_right": "/naoqi_driver/sonar/right",
-      "info": "/naoqi_driver/info"
+      "bumper": "/bumper",
+      "hand_touch": "/hand_touch",
+      "head_touch": "/head_touch",
+      "sonar_left": "/sonar/left",
+      "sonar_right": "/sonar/right",
+      "info": "/info"
     }
   },
   "settingsSchema": {