added env_var support

CMU-Robotics-Club · Jan 11, 2025 · 600cf45 · 600cf45
1 parent a380631
commit 600cf45
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/rb_ws/src/buggy/scripts/controller/controller_node.py b/rb_ws/src/buggy/scripts/controller/controller_node.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 
+import os
 import threading
 import numpy as np
 import rclpy
@@ -32,7 +33,7 @@ def __init__(self):
 
         self.declare_parameter("traj_name", "buggycourse_safe.json")
         traj_name = self.get_parameter("traj_name").value
-        self.cur_traj = Trajectory(json_filepath="/rb_ws/src/buggy/paths/" + traj_name) #TODO: Fixed filepath, not good
+        self.cur_traj = Trajectory(json_filepath=os.environ["TRAJPATH"] + traj_name) #TODO: Fixed filepath, not good
 
         start_index = self.cur_traj.get_index_from_distance(start_dist)
 

diff --git a/rb_ws/src/buggy/scripts/path_planner/path_planner.py b/rb_ws/src/buggy/scripts/path_planner/path_planner.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-import sys
+import os
 from threading import Lock
 
 import numpy as np
@@ -12,7 +12,6 @@
 from geometry_msgs.msg import Pose
 from buggy.msg import TrajectoryMsg
 
-sys.path.append("/rb_ws/src/buggy/scripts")
 from util.trajectory import Trajectory
 
 class PathPlanner(Node):
@@ -53,15 +52,15 @@ def __init__(self) -> None:
         #Parameters
         self.declare_parameter("traj_name", "buggycourse_safe.json")
         traj_name = self.get_parameter("traj_name").value
-        self.nominal_traj = Trajectory(json_filepath="/rb_ws/src/buggy/paths/" + traj_name) #TODO: Fixed filepath, not good
+        self.nominal_traj = Trajectory(json_filepath=os.environ["TRAJPATH"] + traj_name) #TODO: Fixed filepath, not good
 
         self.declare_parameter("curb_name", "")
         curb_name = self.get_parameter("curb_name").value
         curb_name = None if curb_name == "" else curb_name
         if curb_name is None:
             self.left_curb = None
         else:
-            self.left_curb = Trajectory(json_filepath="/rb_ws/src/buggy/paths/" + curb_name) #TODO: Fixed filepath, not good
+            self.left_curb = Trajectory(json_filepath=os.environ["TRAJPATH"] + curb_name) #TODO: Fixed filepath, not good
 
         #Publishers
         self.other_buggy_xtrack_publisher = self.create_publisher(Float64, "debug/other_buggy_xtrack", 10)

diff --git a/rb_ws/src/buggy/scripts/simulator/engine.py b/rb_ws/src/buggy/scripts/simulator/engine.py
@@ -1,6 +1,7 @@
 #! /usr/bin/env python3
 import threading
 import rclpy
+import time
 from rclpy.node import Node
 from geometry_msgs.msg import Pose, Twist, PoseWithCovariance, TwistWithCovariance
 from std_msgs.msg import Float64