From 600cf45ea74e26e969b3f18611c4dd623ef4aca6 Mon Sep 17 00:00:00 2001
From: Mehul Goel <mehulgoel873@gmail.com>
Date: Fri, 10 Jan 2025 23:10:42 -0800
Subject: [PATCH] added env_var support

---
 rb_ws/src/buggy/scripts/controller/controller_node.py | 3 ++-
 rb_ws/src/buggy/scripts/path_planner/path_planner.py  | 7 +++----
 rb_ws/src/buggy/scripts/simulator/engine.py           | 1 +
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/rb_ws/src/buggy/scripts/controller/controller_node.py b/rb_ws/src/buggy/scripts/controller/controller_node.py
index 316df8a3..e52fb4bb 100755
--- 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
index a42e6a1d..b43d40a0 100755
--- 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):
@@ -53,7 +52,7 @@ 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
@@ -61,7 +60,7 @@ def __init__(self) -> None:
         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
index 25694e7d..0b802ef1 100755
--- 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