# Rename ROS Topics pulished by the RB5

Source: https://forum.modalai.com/topic/3635/rename-ros-topics-pulished-by-the-rb5
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Tags: ros
Posted: 2024-07-11 20:00:33 UTC by Prabhav Gupta
Replies: 3 · Views: 1103

## Prabhav Gupta · 2024-07-11 20:00:33 UTC

Hello,

My setup includes a RB5 drone, connected to a local wifi network, running the voxl_mpa_to_ros node. This enables my laptop connected on the same network to find and subscribe to the same topics remotely.

I would like to implement my own SLAM (such as RTAB-MAP or ORB-SLAM3) based on the image and imu data received from the drone. This requires me to change the name on the ROS topics published by the drone to ones expected by the SLAM node.

For example, in case of ORB-SLAM (https://github.com/thien94/orb_slam3_ros?tab=readme-ov-file#4-ros-topics-params-and-services) -

Expected topics: 
```/camera/image_raw``` for Mono(-Inertial) node
```/camera/left/image_raw``` for Stereo(-Inertial) node
```/camera/right/image_raw``` for Stereo(-Inertial) node
```/imu``` for Mono/Stereo/RGBD-Inertial node
```/camera/rgb/image_raw``` and ```/camera/depth_registered/image_raw``` for RGBD node

Actual topic names:
```
/hires_large_color
/hires_large_encoded
/hires_large_grey
/hires_small_color
/hires_small_encoded
/hires_small_grey
/hires_snapshot
/imu_px4
/qvio/odometry
/qvio/pose
/qvio_overlay
/rosout
/rosout_agg
/stereo_front/left
/stereo_front/right
/stereo_rear/left
/stereo_rear/right
/tracking
```

Any help would be greatly appreciated.

## Reply by Moderator (ModalAI staff) · 2024-07-12 00:59:13 UTC

@Prabhav-Gupta The code for voxl-mpa-to-ros is [here](https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros). You can for it and make the changes you need

## Reply by Prabhav Gupta · 2024-07-15 18:53:53 UTC (in reply to Moderator)

@Moderator Thanks a lot, I will look into this!

## Reply by smilon · 2024-09-24 08:38:45 UTC (in reply to Prabhav Gupta)

@Prabhav-Gupta You can just remap the topics coming out of the voxl_mpa_node, or remap the topics inside your ORBSLAM launch file. No need to mess with the source code.