Aruco Code and UVG/UAV Logic Fixes

config/ugv.yaml

@@ -2,7 +2,12 @@
 # UGV-specific settings. Mission config is in search.yaml.
 
 # UGV spawn position in local NED (meters)
-# Also used by run_autonomous.sh to place the UGV model in Gazebo
+# The UAV starts on top of this — run_autonomous.sh syncs both
 position:
-  x: 5.0
-  y: 5.0
+  x: 0.0
+  y: 0.0
+
+# Gazebo transport topics
+topics:
+  cmd_vel: /ugv/cmd_vel
+  odometry: /ugv/odometry