Raspbian error libraries with GoPiGo

I am working on GoPiGo and I am trying to get this robot to move when the camera detects a circle.

Basically the problem is that when I try to use the gopigo library to use functions like fwd (), stop (), etc. if I DO NOT use sudo on the command line and just type "python CircleDetector_MOVEMENT.py" it detects gopigo library but doesn't detect picamera.array:

Traceback (most recent call last):
  File "CircleDetector_MOVEMENT.py", line 2, in <module>
    from picamera.array import PiRGBArray
ImportError: No module named picamera.array

      

        
        
        
      

    

which I am importing from PIRGBarray. And when I use sudo python myprogram.py it does NOT detect the gopigo library and the error is as follows:

Traceback (most recent call last):
   File "CircleDetector_MOVEMENT.py", line 8, in <module>
    from gopigo import *        #Has the basic functions for controlling the          GoPiGo Robot
ImportError: No module named gopigo

      

        
        
        
      

    

I'm guessing it might be permission related, but I have no idea how to solve it.

So, if you know what might be here, I will be grateful. On their forum I was told that this is an I2C problem, but I am still a noob in all this, and I do not know how to solve it.

Any help is appreciated.

PS Here you are my code if it helps:

#import everything i need to get working all modules.
from picamera.array import PiRGBArray
from picamera import PiCamera
import time
import cv2
import os
import numpy as np
from gopigo import *    #Has the basic functions for controlling the GoPiGo     Robot
import sys  #Used for closing the running program
os.system('sudo modprobe bcm2835-v4l2')

h=200
w=300

camera = PiCamera()
camera.resolution = (w, h)
camera.framerate = 5
rawCapture = PiRGBArray(camera, size=(w, h))
time.sleep(0.1)


for frame in camera.capture_continuous(rawCapture, format="bgr",     use_video_port=True):
imagen_RGB = frame.array
copia_RGB = imagen_RGB.copy()



     gris = cv2.cvtColor(imagen_RGB, cv2.COLOR_BGR2GRAY)
     gris = cv2.medianBlur(gris,9)



    img_circulos = None
    img_circulos = cv2.HoughCircles(gris, cv2.cv.CV_HOUGH_GRADIENT, 1, 20, param1=50, param2=50, minRadius=0, maxRadius=0)


    if img_circulos is not None:

        v = 1
        img_circulos = np.round(img_circulos[0, :]).astype("int")


        for (x, y, r) in img_circulos:

            cv2.circle(copia_RGB, (x, y), r, (0, 255, 0), 3)
            cv2.rectangle(copia_RGB, (x - 5, y - 5),(x + 5, y + 5), (0, 128, 255, -1))
    if v == 1
       fwd()

    cv2.imshow("Imagen Combinada", copia_RGB)

    key = cv2.waitKey(1) & 0xFF
    rawCapture.truncate(0)
    if key == ord("q"):
        break