diff --git a/setup.cfg b/setup.cfg
index e017f61..e927517 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -21,7 +21,7 @@ package_dir=
 zip_safe = True
 include_package_data = True
 install_requires =
-    numpy >= 1.19
+    rrtplanner
     tensorflow >= 2.8.0
     opencv-python >= 4.5
     networkx >= 2.6.3
diff --git a/src/uavfpy/planner/mission.py b/src/uavfpy/planner/mission.py
index 4d7ac3c..914ec1c 100755
--- a/src/uavfpy/planner/mission.py
+++ b/src/uavfpy/planner/mission.py
@@ -249,7 +249,7 @@ def json_get_boundaries(self) -> Tuple[list, list, list]:
                 lat84 = bp["latitude"]
                 long84 = bp["longitude"]
                 # Convert to local
-                latloc, longloc = wgs2loc.transform(lat84, long84)
+                latloc, longloc = self.wgs2loc.transform(lat84, long84)
                 fzbounds.append([latloc, longloc])
             # close the loop
             fzbounds.append(fzbounds[0])
@@ -273,7 +273,7 @@ def json_get_search_boundaries(self) -> np.ndarray:
             lat84 = sgp["latitude"]
             long84 = sgp["longitude"]
             # convert to local
-            latloc, longloc = wgs2loc.transform(lat84, long84)
+            latloc, longloc = self.wgs2loc.transform(lat84, long84)
             bounds.append([latloc, longloc])
         # closed loop
         bounds.append(bounds[0])
@@ -291,7 +291,7 @@ def json_get_ordered_waypoints(self) -> np.ndarray:
         waypoints = []
         for wp in self.mission_json["waypoints"]:
             lat84, long84, h = wp["latitude"], wp["longitude"], wp["altitude"]
-            latloc, longloc = wgs2loc.transform(lat84, long84)
+            latloc, longloc = self.wgs2loc.transform(lat84, long84)
             waypoints.append([latloc, longloc, h])
         return np.array(waypoints)
 
@@ -310,7 +310,7 @@ def json_get_obstacles(self) -> list:
             long84 = obs["longitude"]
             radius = obs["radius"]
             height = obs["height"]
-            latloc, longloc = wgs2loc.transform(lat84, long84)
+            latloc, longloc = self.wgs2loc.transform(lat84, long84)
             obstacles.append(
                 {
                     "x": latloc,