changes on jetson

elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml

@@ -18,10 +18,15 @@ image_channel_fusions:
 
 publishers:
   elevation_map_raw:
-    layers: ['elevation', 'traversability', 'variance', 'rgb', 'anomaly']
+    layers: ['elevation', 'traversability', 'variance', 'rgb', 'anomaly', 'friction', 'stiffness', 'risk']
     basic_layers: ['elevation', 'traversability']
     fps: 5.0
 
+  elevation_map_recordable:
+    layers: ['elevation', 'traversability', 'variance', 'rgb', 'anomaly', 'friction', 'stiffness', 'risk']
+    basic_layers: ['elevation', 'traversability']
+    fps: 2.0
+
   filtered_elevation_map:
     layers: ['inpaint', 'smooth', 'min_filter']
     basic_layers: ['inpaint']
@@ -75,8 +80,14 @@ subscribers:
     topic_name: /robot_self_filter/bpearl_rear/point_cloud
     data_type: pointcloud
 
+  traversability:
+      topic_name: "/hdr_camera/semantic_image"
+      camera_info_topic_name: "/hdr_camera/semantic_camera_info"
+      channel_info_topic_name: "/hdr_camera/image_channel_info"
+      data_type: image
+
   anomaly:
     topic_name: "/wild_visual_navigation_node/front/traversability"
     camera_info_topic_name: "/wild_visual_navigation_node/front/camera_info"
     channel_info_topic_name: "/wild_visual_navigation_node/front/channel_info"
-    data_type: image
+    data_type: image