Merge branch 'main' into openpcdet-dan

README.md

@@ -1,6 +1,6 @@
 # WATonomous Monorepo v2
 
-Dockerized ROS2 setup for the WATonomous Autonomous Driving Software Pipeline
+Dockerized ROS2 setup for the WATonomous Autonomous Vehicle Software Pipeline
 
 - [WATonomous Monorepo](#watonomous-monorepo)
   - [Getting Started](#getting-started)
@@ -88,7 +88,7 @@ wato_monorepo_v2
 ### Using Foxglove
 [Foxglove](https://foxglove.dev/) is used to visualize ROS messages on a local machine.
 
-Add `data_stream` as an `ACTIVE_MODULES` and `watod up`.
+Add `infrastructure` as an `ACTIVE_MODULES` and `watod up`.
 
 It exposes the port specified by the `FOXGLOVE_BRIDGE_PORT` variable, which you will need to forward to your local machine. This can either be done in the `ports` section of VS Code or by running the command `ssh -L 8765:localhost:8765 <username>@<machine>-ubuntu1.watocluster.local` on your local machine.
 

docs/dev/rosbag.md

@@ -5,9 +5,9 @@ More on bags can be found here: https://docs.ros.org/en/humble/Tutorials/Beginne
 
 ## To Use
 
-Add `data_stream` as an `ACTIVE_PROFILE` in `watod-config.sh`. 
+Add `infrastructure` as an `ACTIVE_PROFILE` in `watod-config.sh`. 
 
-Run `watod up` (or however you want to launch the `data_stream` service). 
+Run `watod up` (or however you want to launch the `infrastructure` service). 
 
 The working directory of the `data_stream` container should have a `nuscenes` directory, which contains the NuScenes dataset converted to ros2bag format. To confirm this, run `watod run data_stream ls nuscenes` to view the available bags. Each bag has its own directory. The location of the `.mcap` file is `<name>/<name>_0.mcap`. For example, one of the bags is in `nuscenes/NuScenes-v1.0-mini-scene-0061/NuScenes-v1.0-mini-scene-0061_0.mcap`. 
 

modules/docker-compose.perception.yaml

@@ -29,7 +29,7 @@ services:
             - driver: nvidia
               count: 1
               capabilities: [ gpu ]
-    command: /bin/bash -c "ros2 launch camera_object_detection eve_launch.py"
+    command: /bin/bash -c "ros2 launch camera_object_detection eve.launch.py"
     volumes:
       - /mnt/wato-drive2/perception_models/yolov8m.pt:/perception_models/yolov8m.pt
       - /mnt/wato-drive2/perception_models/traffic_light.pt:/perception_models/traffic_light.pt