Update for new location

src/example_robot_brain/launch/task_mapping.launch

@@ -5,7 +5,7 @@
   <include file="$(find example_robot_description)/launch/spawn_example_robot.launch"/>
 
   <!-- Spawn your custom robot using the generated robot spawner -->
-  <include file="$(find virtual_maize_field)/launch/robot_spawner.launch">
+  <include file="$(eval optenv('ROS_HOME', env('HOME')+'/.ros')+'/virtual_maize_field/robot_spawner.launch')">
     <arg name="robot_name" value="example_robot"/>
   </include>
 

src/example_robot_brain/scripts/detection.py

@@ -10,6 +10,7 @@
 ]
 i = 0
 
+
 # Does not actually detect anything, just returns hardcoded locations
 def detect():
     global i

src/example_robot_brain/scripts/navigation.py

@@ -15,4 +15,3 @@ def drive(duration=10):
         msg.linear.x = 1
         pub.publish(msg)
         rate.sleep()
-

src/example_robot_brain/scripts/task_mapping.py

@@ -3,22 +3,20 @@
 import csv
 
 import rospy
-import rospkg
 
 from navigation import drive
 from detection import detect
 
 from std_msgs.msg import String
 
+from virtual_maize_field import get_markers_file
+
 
 if __name__ == "__main__":
     rospy.init_node("task_mapping_node")
 
-    pkg_path = rospkg.RosPack().get_path("virtual_maize_field")
-
     # Read the relative position of the pillars
-    markers_path = os.path.join(pkg_path, "map/markers.csv")
-    with open(markers_path, "r") as f:
+    with open(get_markers_file(), "r") as f:
         reader = csv.reader(f)
 
         # Skip header
@@ -34,7 +32,7 @@
 
     # Create path to file where we have to save the predicted coordinates of the
     # litter and weeds
-    out_map_path = os.path.join(pkg_path, "map/pred_map.csv")
+    out_map_path = os.path.join(os.path.expanduser("~"), "pred_map.csv")
 
     try:
         # Open output file
@@ -63,7 +61,7 @@
 
                 # Write found position to file
                 writer.writerow([obj_position[0], obj_position[1], obj_type])
-            
+
             rospy.loginfo("Done driving")
 
     except rospy.ROSInterruptException:

src/example_robot_brain/scripts/task_navigation.py

@@ -1,28 +1,26 @@
 #!/usr/bin/env python3
-import os
-import rospkg
+
 import rospy
 
 from navigation import drive
 
+from virtual_maize_field import get_driving_pattern_file
+
+
 if __name__ == "__main__":
     rospy.init_node("task_navigation_node")
 
-    # Read the driving directions from the file
-    pkg_path = rospkg.RosPack().get_path("virtual_maize_field")
-    dp_path = os.path.join(pkg_path, "map/driving_pattern.txt")
-
-    with open(dp_path) as direction_f:
+    with open(get_driving_pattern_file()) as direction_f:
         directions = direction_f.readline()
 
     rospy.loginfo(f"Driving directions are: {directions}")
 
     try:
         # Drive
         rospy.loginfo("Starting to drive")
-        
+
         drive()
-        
+
         rospy.loginfo("Done driving")
     except rospy.ROSInterruptException:
         pass