From 6f1c7e6f8f11911bb6d6dac84e99659aef8d7122 Mon Sep 17 00:00:00 2001
From: Carter Frost <carter90@gmail.com>
Date: Tue, 20 Nov 2018 16:11:43 -0800
Subject: [PATCH 1/4] Allows run.sh to be executed from any folder within the
 repo using catkin locate and outside using dirname

Testing:
From home you could run `./SwarmBaseCode-ROS/run.sh` this will use dirname
From SwarmBaseCode-ROS/src/behaviours/src you could run it as ../../../run.sh this will use catkin locate
---
 run.sh | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/run.sh b/run.sh
index 04e3ec16..57e20369 100755
--- a/run.sh
+++ b/run.sh
@@ -1,18 +1,19 @@
 #!/bin/bash
-echo "Running in $PWD" 
 previous_gazebo_model_path=${GAZEBO_MODEL_PATH}
 previous_gazebo_plugin_path=${GAZEBO_PLUGIN_PATH}
-export SWARMATHON_APP_ROOT="$PWD"
-export GAZEBO_MODEL_PATH="$PWD/simulation/models"
-export GAZEBO_PLUGIN_PATH="$PWD/build/gazebo_plugins"
-source "$PWD/devel/setup.bash"
+export SWARMATHON_APP_ROOT="$(catkin locate)"
+if [ -z "$t" ]; then SWARMATHON_APP_ROOT=$(dirname "$0"); fi
+echo "Running from: $PWD with repo root: $SWARMATHON_APP_ROOT"
+export GAZEBO_MODEL_PATH="$SWARMATHON_APP_ROOT/simulation/models"
+export GAZEBO_PLUGIN_PATH="$SWARMATHON_APP_ROOT/build/gazebo_plugins"
+source "$SWARMATHON_APP_ROOT/devel/setup.bash"
 echo Cleaning up ROS and Gazebo Processes
 
 #Delete the rqt cache - can take 24 hours for changes in the UI
 # to show up otherwise
 rm ~/.config/ros.org/rqt_gui.ini
 
-./cleanup.sh
+$SWARMATHON_APP_ROOT/cleanup.sh
 echo Killing rosmaster
 pkill rosmaster
 echo Killing roscore
@@ -28,7 +29,7 @@ echo Killing rosmaster
 pkill rosmaster
 echo Killing roscore
 pkill roscore
-./cleanup.sh
+$SWARMATHON_APP_ROOT/cleanup.sh
 # Restore previous environment
 export GAZEBO_MODEL_PATH=$previous_gazebo_model_path
 export GAZEBO_PLUGIN_PATH=$previous_gazebo_plugin_path

From f894de289c7f39c9d1e0d75e56259b12aff5d984 Mon Sep 17 00:00:00 2001
From: Carter Frost <carter90@gmail.com>
Date: Wed, 21 Nov 2018 15:35:08 -0800
Subject: [PATCH 2/4] fixing typo from t to SWARMATHON_APP_ROOT in run.sh

---
 run.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/run.sh b/run.sh
index 57e20369..ba14cb9a 100755
--- a/run.sh
+++ b/run.sh
@@ -2,7 +2,7 @@
 previous_gazebo_model_path=${GAZEBO_MODEL_PATH}
 previous_gazebo_plugin_path=${GAZEBO_PLUGIN_PATH}
 export SWARMATHON_APP_ROOT="$(catkin locate)"
-if [ -z "$t" ]; then SWARMATHON_APP_ROOT=$(dirname "$0"); fi
+if [ -z "$SWARMATHON_APP_ROOT" ]; then SWARMATHON_APP_ROOT=$(dirname "$0"); fi
 echo "Running from: $PWD with repo root: $SWARMATHON_APP_ROOT"
 export GAZEBO_MODEL_PATH="$SWARMATHON_APP_ROOT/simulation/models"
 export GAZEBO_PLUGIN_PATH="$SWARMATHON_APP_ROOT/build/gazebo_plugins"

From 0cc658c4bfa36e1590a6e991801f0b51869bcb22 Mon Sep 17 00:00:00 2001
From: Carter Frost <carter90@gmail.com>
Date: Wed, 21 Nov 2018 18:51:28 -0800
Subject: [PATCH 3/4] Allows rover_launch_local.sh to be executed from any
 folder within the repo using catkin locate and outside using dirname

---
 misc/rover_launch_local.sh | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/misc/rover_launch_local.sh b/misc/rover_launch_local.sh
index 209e05a4..26422a3b 100755
--- a/misc/rover_launch_local.sh
+++ b/misc/rover_launch_local.sh
@@ -1,3 +1,5 @@
 #!/bin/bash
+export SWARMATHON_APP_ROOT="$(catkin locate)"
+if [ -z "$SWARMATHON_APP_ROOT" ]; then SWARMATHON_APP_ROOT=$(dirname "$0"); fi
 roscore &
-./rover_onboard_node_launch.sh localhost $1
+$SWARMATHON_APP_ROOT/misc/rover_onboard_node_launch.sh localhost $1

From 62a37c681ccd8188e6ea9071ac43bc78a5f411f7 Mon Sep 17 00:00:00 2001
From: Carter Frost <carter90@gmail.com>
Date: Wed, 21 Nov 2018 18:53:44 -0800
Subject: [PATCH 4/4] Changed dirPath in misc/deploy.sh to allow it to run from
 any folder

---
 misc/deploy.sh | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/misc/deploy.sh b/misc/deploy.sh
index c52cf47a..07d88944 100755
--- a/misc/deploy.sh
+++ b/misc/deploy.sh
@@ -8,9 +8,9 @@ branch=""
 needsReboot=false
 calFile=""
 
-cd ..
-dirPath="$(pwd)"
-dirName="$(basename `pwd`)"
+export dirPath="$(catkin locate)"
+if [ -z "$dirPath" ]; then dirPath=$(dirname "$0"); fi
+dirName="$(basename $dirPath)"
 
 #Functions
 #--------------------------------------------------------------------------