From cd659c89738cb9132ef54527772449a1b1efb559 Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Wed, 12 Jul 2023 15:17:32 -0700
Subject: [PATCH] Correct the name of the node to be activated for merged node

---
 ouster-ros/launch/sensor.composite.launch.xml | 4 ++--
 ouster-ros/launch/sensor_mtp.launch.xml       | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ouster-ros/launch/sensor.composite.launch.xml b/ouster-ros/launch/sensor.composite.launch.xml
index e66fd3d9..9e11b97f 100644
--- a/ouster-ros/launch/sensor.composite.launch.xml
+++ b/ouster-ros/launch/sensor.composite.launch.xml
@@ -86,9 +86,9 @@
 
   <!-- HACK: configure and activate the sensor node via a process execute since state
     transition is currently not availabe through launch.xml format -->
-  <executable cmd="$(find-exec ros2) lifecycle set /$(var ouster_ns)/os_sensor configure"
+  <executable cmd="$(find-exec ros2) lifecycle set /$(var ouster_ns)/os_driver configure"
     launch-prefix="bash -c 'sleep 0; $0 $@'" output="screen"/>
-  <executable cmd="$(find-exec ros2) lifecycle set /$(var ouster_ns)/os_sensor activate"
+  <executable cmd="$(find-exec ros2) lifecycle set /$(var ouster_ns)/os_driver activate"
     launch-prefix="bash -c 'sleep 1; $0 $@'" output="screen"/>
 
   <include if="$(var viz)" file="$(find-pkg-share ouster_ros)/launch/rviz.launch.xml">
diff --git a/ouster-ros/launch/sensor_mtp.launch.xml b/ouster-ros/launch/sensor_mtp.launch.xml
index 66c12986..d8539e50 100644
--- a/ouster-ros/launch/sensor_mtp.launch.xml
+++ b/ouster-ros/launch/sensor_mtp.launch.xml
@@ -94,9 +94,9 @@
 
   <!-- HACK: configure and activate the sensor node via a process execute since state
     transition is currently not availabe through launch.xml format -->
-  <executable cmd="$(find-exec ros2) lifecycle set /$(var ouster_ns)/os_sensor configure"
+  <executable cmd="$(find-exec ros2) lifecycle set /$(var ouster_ns)/os_driver configure"
     launch-prefix="bash -c 'sleep 0; $0 $@'" output="screen"/>
-  <executable cmd="$(find-exec ros2) lifecycle set /$(var ouster_ns)/os_sensor activate"
+  <executable cmd="$(find-exec ros2) lifecycle set /$(var ouster_ns)/os_driver activate"
     launch-prefix="bash -c 'sleep 1; $0 $@'" output="screen"/>
 
   <include if="$(var viz)" file="$(find-pkg-share ouster_ros)/launch/rviz.launch.xml">