From fe4ce92c4bc5bdbc6549d2512514f5bfb7cb72e6 Mon Sep 17 00:00:00 2001
From: Haegu Lee <34788458+benthebear93@users.noreply.github.com>
Date: Mon, 21 Jun 2021 22:44:06 +0900
Subject: [PATCH] Fix No module error in GridBasedSweepCPP and
 ClosedLoopRRTStart (#516)

* Fix No module error in GridBasedSweepCPP and ClosedLoopRRTStart

* Fix No module error in GridBasedSweepCPP and ClosedLoopRRTStart

* Fix No module error in GridBasedSweepCPP and ClosedLoopRRTStart

* Fix No module error in GridBasedSweepCPP and ClosedLoopRRTStart

* Fix No module error in GridBasedSweepCPP and ClosedLoopRRTStart
---
 PathPlanning/ClosedLoopRRTStar/__init__.py      |  8 --------
 .../closed_loop_rrt_star_car.py                 | 17 +++++++++++++++--
 PathPlanning/GridBasedSweepCPP/__init__.py      |  7 -------
 .../grid_based_sweep_coverage_path_planner.py   | 11 ++++++++++-
 4 files changed, 25 insertions(+), 18 deletions(-)
 delete mode 100644 PathPlanning/ClosedLoopRRTStar/__init__.py
 delete mode 100644 PathPlanning/GridBasedSweepCPP/__init__.py

diff --git a/PathPlanning/ClosedLoopRRTStar/__init__.py b/PathPlanning/ClosedLoopRRTStar/__init__.py
deleted file mode 100644
index 0e49cd14..00000000
--- a/PathPlanning/ClosedLoopRRTStar/__init__.py
+++ /dev/null
@@ -1,8 +0,0 @@
-import os
-import sys
-
-sys.path.append(os.path.dirname(os.path.abspath(__file__)))
-sys.path.append(os.path.dirname(
-    os.path.abspath(__file__)) + "/../ReedsSheppPath/")
-sys.path.append(os.path.dirname(
-    os.path.abspath(__file__)) + "/../RRTStarReedsShepp/")
diff --git a/PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py b/PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py
index 740fc559..c0c8c356 100644
--- a/PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py
+++ b/PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py
@@ -5,15 +5,28 @@ Path planning Sample Code with Closed loop RRT for car like robot.
 author: AtsushiSakai(@Atsushi_twi)
 
 """
+import os
+import sys
 
 import matplotlib.pyplot as plt
 import numpy as np
-import reeds_shepp_path_planning
-from rrt_star_reeds_shepp import RRTStarReedsShepp
+
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))
 
 import pure_pursuit
 import unicycle_model
 
+sys.path.append(os.path.dirname(
+    os.path.abspath(__file__)) + "/../ReedsSheppPath/")
+sys.path.append(os.path.dirname(
+    os.path.abspath(__file__)) + "/../RRTStarReedsShepp/")
+
+try:
+    import reeds_shepp_path_planning
+    from rrt_star_reeds_shepp import RRTStarReedsShepp
+except ImportError:
+    raise
+
 show_animation = True
 
 
diff --git a/PathPlanning/GridBasedSweepCPP/__init__.py b/PathPlanning/GridBasedSweepCPP/__init__.py
deleted file mode 100644
index f1c41ce4..00000000
--- a/PathPlanning/GridBasedSweepCPP/__init__.py
+++ /dev/null
@@ -1,7 +0,0 @@
-import os
-import sys
-
-GRID_MAP_LIB = os.path.dirname(os.path.abspath(__file__)) + \
-               "/../../Mapping/"
-
-sys.path.append(GRID_MAP_LIB)
diff --git a/PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py b/PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py
index 984b0aff..c0c8fc43 100644
--- a/PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py
+++ b/PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py
@@ -5,13 +5,22 @@ author: Atsushi Sakai
 """
 
 import math
+import os
+import sys
 from enum import IntEnum
 
 import numpy as np
 from scipy.spatial.transform import Rotation as Rot
-from Mapping.grid_map_lib.grid_map_lib import GridMap
 import matplotlib.pyplot as plt
 
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../../Mapping/")
+
+try:
+    from grid_map_lib.grid_map_lib import GridMap
+except ImportError:
+    raise
+
 do_animation = True