added env vars to docker

.env.dev

@@ -1,5 +1,8 @@
+# NOTE: this file is not being used in docker compose correctly
+# SET ALL ENVIRONMENT VARIABLES IN THE YAML
 GPS_PORT=/dev/null
 WEBCAM_PORT=/dev/null
 RLSENSE_PORT=/dev/null
 TEENSY_PORT=/dev/null
 FEATHER_PORT=/dev/null
+

Dockerfile

@@ -24,7 +24,8 @@ RUN echo 'source "/opt/ros/humble/setup.bash" --' >> ~/.bashrc && \
     echo 'cd rb_ws' >> ~/.bashrc && \
     echo 'colcon build --symlink-install' >> ~/.bashrc && \
     echo 'source install/local_setup.bash' >> ~/.bashrc && \
-    echo 'chmod -R +x src/buggy/scripts/' >> ~/.bashrc
+    echo 'chmod -R +x src/buggy/scripts/' >> ~/.bashrc && \
+    echo 'source environments/docker_env.bash' >> ~/.bashrc 
 
 # add mouse to tmux
 RUN echo 'set -g mouse on' >> ~/.tmux.conf

docker-dev.yml

@@ -12,6 +12,7 @@ services:
       - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1"
     stdin_open: true # docker run -i
     tty: true # docker run -t
+    env_file: .env.dev
     environment:
       - DISPLAY=host.docker.internal:0
     hostname: main

rb_ws/environments/docker_env.bash

@@ -0,0 +1,4 @@
+#!/bin/sh
+export RBROOT=/rb_ws
+export PYTHONPATH=$PYTHONPATH:$RBROOT/src/buggy/scripts
+export TRAJPATH=$RBROOT/src/buggy/paths/

rb_ws/src/buggy/scripts/controller/controller_node.py

@@ -1,18 +1,15 @@
 #!/usr/bin/env python3
 
+import os
 import threading
-import sys
-
 import numpy as np
-
 import rclpy
 from rclpy.node import Node
 
 from std_msgs.msg import Float32, Float64, Bool
 from nav_msgs.msg import Odometry
 from buggy.msg import TrajectoryMsg
 
-sys.path.append("/rb_ws/src/buggy/scripts")
 from util.trajectory import Trajectory
 from controller.stanley_controller import StanleyController
 
@@ -24,7 +21,7 @@ def __init__(self):
 
         Creates a ROS node with a publisher that periodically sends a message
         indicating whether the node is still alive.
-        
+
         """
         super().__init__('controller')
         self.get_logger().info('INITIALIZED.')
@@ -36,7 +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)
 
         start_index = self.cur_traj.get_index_from_distance(start_dist)
 

rb_ws/src/buggy/scripts/controller/controller_superclass.py

@@ -1,10 +1,8 @@
 from abc import ABC, abstractmethod
-import sys
 
 from nav_msgs.msg import Odometry
 
 
-sys.path.append("/rb_ws/src/buggy/scripts")
 from util.trajectory import Trajectory
 
 class Controller(ABC):

rb_ws/src/buggy/scripts/controller/stanley_controller.py

@@ -1,11 +1,9 @@
-import sys
 import numpy as np
 
 from sensor_msgs.msg import NavSatFix
 from geometry_msgs.msg import Pose as ROSPose
 from nav_msgs.msg import Odometry
 
-sys.path.append("/rb_ws/src/buggy/scripts")
 from util.trajectory import Trajectory
 from controller.controller_superclass import Controller
 from util.pose import Pose

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)
 
         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)
 
         #Publishers
         self.other_buggy_xtrack_publisher = self.create_publisher(Float64, "debug/other_buggy_xtrack", 10)

rb_ws/src/buggy/scripts/simulator/engine.py

@@ -1,6 +1,5 @@
 #! /usr/bin/env python3
 import threading
-import sys
 import time
 import rclpy
 from rclpy.node import Node
@@ -10,8 +9,6 @@
 from nav_msgs.msg import Odometry
 import numpy as np
 import utm
-
-sys.path.append("/rb_ws/src/buggy/scripts")
 from util.constants import Constants
 
 class Simulator(Node):
@@ -21,7 +18,6 @@ def __init__(self):
         super().__init__('sim_single')
         self.get_logger().info('INITIALIZED.')
 
-
         self.starting_poses = {
             "Hill1_NAND": (Constants.UTM_EAST_ZERO + 0, Constants.UTM_NORTH_ZERO + 0, -110),
             "Hill1_SC": (Constants.UTM_EAST_ZERO + 20, Constants.UTM_NORTH_ZERO + 30, -110),