From e4e59a13ff725a9d3b987b80a569b00cbf162ea4 Mon Sep 17 00:00:00 2001
From: umroverPerception <umroverPerception@gmail.com>
Date: Sat, 20 Apr 2024 18:55:37 -0400
Subject: [PATCH] Updates

---
 config/esw.yaml        |  6 +++---
 launch/esw_base.launch | 24 ++++++++++++------------
 2 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/config/esw.yaml b/config/esw.yaml
index 3c877b92a..c68689546 100644
--- a/config/esw.yaml
+++ b/config/esw.yaml
@@ -144,11 +144,11 @@ brushless_motors:
       max_backward_pos: 0.0
       max_torque: 20.0
     joint_c:
-      min_velocity: -0.04 # in terms of output
-      max_velocity: 0.04 # max output shaft speed: 5 rpm (for now)
+      min_velocity: -0.03 # in terms of output
+      max_velocity: 0.03 # max output shaft speed: 5 rpm (for now)
       min_position: -0.125
       max_position: 0.30 # 220 degrees of motion is the entire range
-      max_torque: 20.0
+      max_torque: 200.0
     joint_de_0:
       min_velocity: -5.0
       max_velocity: 5.0
diff --git a/launch/esw_base.launch b/launch/esw_base.launch
index e2ccf7d2d..e69ff7fa2 100644
--- a/launch/esw_base.launch
+++ b/launch/esw_base.launch
@@ -23,14 +23,6 @@
             <param name="interface" value="can3" />
       </node> -->
 
-      <!-- <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_0"
-            output="screen">
-            <param name="image_topic" value="/camera/left/image" />
-            <param name="port" value="8081" />
-            <param name="width" value="1280" />
-            <param name="height" value="720" />
-      </node> -->
-
       <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_0"
             output="screen">
             <param name="device" value="/dev/video0" />
@@ -47,15 +39,23 @@
             <param name="height" value="720" />
       </node>
 
-      <!-- <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_2"
+      <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_2"
             output="screen">
             <param name="device" value="/dev/video4" />
             <param name="port" value="8083" />
-            <param name="width" value="640" />
-            <param name="height" value="480" />
+            <param name="width" value="1280" />
+            <param name="height" value="720" />
+      </node>
+
+      <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_zed"
+            output="screen">
+            <param name="image_topic" value="/camera/left/image" />
+            <param name="port" value="8084" />
+            <param name="width" value="1280" />
+            <param name="height" value="720" />
       </node>
       
-      <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_3"
+      <!-- <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_3"
             output="screen">
             <param name="device" value="/dev/video6" />
             <param name="port" value="8084" />