From 540efa4be69bdb856f642bcddcf893397fa39790 Mon Sep 17 00:00:00 2001
From: Mehul Goel <mehulgoel873@gmail.com>
Date: Thu, 9 Jan 2025 19:04:07 -0800
Subject: [PATCH] fixed topic names + docker

---
 Dockerfile                                               | 2 +-
 rb_ws/src/buggy/scripts/controller/controller_node.py    | 2 +-
 rb_ws/src/buggy/scripts/controller/stanley_controller.py | 4 ++--
 rb_ws/src/buggy/scripts/path_planner/path_planner.py     | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index b855e3c..4ffeb8d 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -24,7 +24,7 @@ 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 'cchmod -R +x  src/buggy/scripts/'
+    echo 'chmod -R +x src/buggy/scripts/' >> ~/.bashrc
 
 # add mouse to tmux
 RUN echo 'set -g mouse on' >> ~/.tmux.conf
diff --git a/rb_ws/src/buggy/scripts/controller/controller_node.py b/rb_ws/src/buggy/scripts/controller/controller_node.py
index cad007e..6413703 100755
--- a/rb_ws/src/buggy/scripts/controller/controller_node.py
+++ b/rb_ws/src/buggy/scripts/controller/controller_node.py
@@ -58,7 +58,7 @@ def __init__(self):
             Float64, "input/steering", 1
         )
         self.heading_publisher = self.create_publisher(
-            Float32, "auton/debug/heading", 1
+            Float32, "debug/heading", 1
         )
 
         # Subscribers
diff --git a/rb_ws/src/buggy/scripts/controller/stanley_controller.py b/rb_ws/src/buggy/scripts/controller/stanley_controller.py
index 4c5b10f..ce9b811 100755
--- a/rb_ws/src/buggy/scripts/controller/stanley_controller.py
+++ b/rb_ws/src/buggy/scripts/controller/stanley_controller.py
@@ -30,10 +30,10 @@ class StanleyController(Controller):
     def __init__(self, start_index, namespace, node):
         super(StanleyController, self).__init__(start_index, namespace, node)
         self.debug_reference_pos_publisher = self.node.create_publisher(
-            NavSatFix, "auton/debug/reference_navsat", 1
+            NavSatFix, "controller/debug/reference_navsat", 1
         )
         self.debug_error_publisher = self.node.create_publisher(
-            ROSPose, "auton/debug/error", 1
+            ROSPose, "controller/debug/stanley_error", 1
         )
 
     def compute_control(self, state_msg : Odometry, trajectory : Trajectory):
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 2f91b1c..a3f2dd1 100755
--- a/rb_ws/src/buggy/scripts/path_planner/path_planner.py
+++ b/rb_ws/src/buggy/scripts/path_planner/path_planner.py
@@ -64,7 +64,7 @@ def __init__(self) -> None:
             self.left_curb = Trajectory(json_filepath="/rb_ws/src/buggy/paths/" + curb_name) #TODO: Fixed filepath, not good
 
         #Publishers
-        self.other_buggy_xtrack_publisher = self.create_publisher(Float64, "self/debug/other_buggy_xtrack", 10)
+        self.other_buggy_xtrack_publisher = self.create_publisher(Float64, "debug/other_buggy_xtrack", 10)
         self.traj_publisher = self.create_publisher(TrajectoryMsg, "self/cur_traj", 10)
 
         #Subscribers