From eb235f869737f2878445bcdf6c49f08467561158 Mon Sep 17 00:00:00 2001
From: Marina Moreira <67443181+marinagmoreira@users.noreply.github.com>
Date: Tue, 27 Feb 2024 16:18:19 -0800
Subject: [PATCH] fixing path in granite (#149)

* fixing path in granite

* suggestion

* changing env var name
---
 .../src/survey_planner/command_astrobee.py    | 23 +++++++++++--------
 .../src/survey_planner/problem_generator.py   |  7 +++---
 2 files changed, 18 insertions(+), 12 deletions(-)

diff --git a/astrobee/survey_manager/survey_planner/src/survey_planner/command_astrobee.py b/astrobee/survey_manager/survey_planner/src/survey_planner/command_astrobee.py
index 6ac6d0f4..c4f36e1f 100755
--- a/astrobee/survey_manager/survey_planner/src/survey_planner/command_astrobee.py
+++ b/astrobee/survey_manager/survey_planner/src/survey_planner/command_astrobee.py
@@ -118,9 +118,9 @@ def get_ops_plan_path():
         return "/opt/astrobee/ops/gds/plans/"
 
     # Check if the environment variable $ASTROBEE_OPS exists
-    astrobee_ops_path = os.getenv("ASTROBEE_OPS")
+    astrobee_ops_path = os.getenv("OPS_REPO")
     if astrobee_ops_path:
-        return os.path.join(astrobee_ops_path, "gds/plans")
+        return os.path.join(astrobee_ops_path, "dock_scripts/hsc/gds/plans")
 
     # Check if the symlink ~/gds/latest/ControlStationConfig/IssWorld exists
     symlink_path = os.path.expanduser("~/gds/latest/ControlStationConfig/IssWorld")
@@ -128,7 +128,7 @@ def get_ops_plan_path():
         # Get the target of the symlink
         target_path = os.path.realpath(symlink_path)
         # Construct the relative path ../../plans
-        relative_path = os.path.join(target_path, "../../plans")
+        relative_path = os.path.join(target_path, "../../../dock_scripts/hsc/gds/plans")
         return relative_path
 
     # Return None if none of the conditions are met
@@ -392,7 +392,7 @@ def send_command_recursive(self, command):
 
         while exit_code != 0 and not rospy.is_shutdown():
             self.write_output_once(
-                "Exit code non-zero: Do you want to repeat the survey? (yes/no/skip): \n"
+                "Exit code non-zero: Do you want to repeat the send command? (yes/no/skip): \n"
             )
             repeat = self.read_input_once().lower()
             loginfo(f"user input: {repeat}")
@@ -581,6 +581,7 @@ def get_quick_stereo_survey(fplan_path: pathlib.Path) -> pathlib.Path:
 @dataclass
 class SurveyManagerExecutor:
     process_executor: ProcessExecutor
+    command_executor: CommandExecutor
     config_static: YamlMapping
     fsw_ns_args: List[str]
     cmd_exec_ns: str
@@ -604,14 +605,16 @@ def move(self, from_name: str, to_name: str) -> int:
             to_name,
         )
         if exposure_value != 0:
-            cexec = CommandExecutor(self.cmd_exec_ns)
-            exit_code = first_non_zero(exit_code, cexec.change_exposure(exposure_value))
+            exit_code = first_non_zero(
+                exit_code, self.command_executor.change_exposure(exposure_value)
+            )
 
         # Change map if needed
         map_name = map_change(self.config_static, from_name, to_name)
         if map_name != "":
-            cexec = CommandExecutor(self.cmd_exec_ns)
-            exit_code = first_non_zero(exit_code, cexec.change_map(map_name))
+            exit_code = first_non_zero(
+                exit_code, self.command_executor.change_map(map_name)
+            )
 
         return exit_code
 
@@ -645,7 +648,9 @@ def survey_manager_executor(args, run, config_static, process_executor, quick: b
         cmd_exec_ns = "/" + args["robot"]
     command_executor = CommandExecutor(cmd_exec_ns)
 
-    sm_exec = SurveyManagerExecutor(process_executor, config_static, ns, cmd_exec_ns)
+    sm_exec = SurveyManagerExecutor(
+        process_executor, command_executor, config_static, ns, cmd_exec_ns
+    )
 
     # Initialize exit code
     exit_code = 0
diff --git a/astrobee/survey_manager/survey_planner/src/survey_planner/problem_generator.py b/astrobee/survey_manager/survey_planner/src/survey_planner/problem_generator.py
index 8d3db54e..2b19fa94 100755
--- a/astrobee/survey_manager/survey_planner/src/survey_planner/problem_generator.py
+++ b/astrobee/survey_manager/survey_planner/src/survey_planner/problem_generator.py
@@ -57,6 +57,7 @@
     TypeVar,
 )
 
+import rospkg
 import yaml
 
 GOAL_TYPE_OPTIONS = ("panorama", "stereo", "robot_at", "let_other_robot_reach")
@@ -70,13 +71,13 @@
     "let-other-robot-reach",
 )
 
-THIS_DIR = pathlib.Path(__file__).resolve().parent
 CWD = pathlib.Path.cwd()
+rospack = rospkg.RosPack()
 DATA_DIR = pathlib.Path(
-    os.path.relpath(str((THIS_DIR / ".." / ".." / "data").resolve()), CWD)
+    os.path.relpath(pathlib.Path(rospack.get_path("survey_planner")) / "data", CWD)
 )
 PDDL_DIR = pathlib.Path(
-    os.path.relpath(str((THIS_DIR / ".." / ".." / "pddl").resolve()), CWD)
+    os.path.relpath(pathlib.Path(rospack.get_path("survey_planner")) / "pddl", CWD)
 )
 DEFAULT_CONFIGS = [
     DATA_DIR / "jem_survey_static.yaml",