Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
doc:beginner:creating_a_cram_package [2014/01/17 11:15] – gkazhoya | doc:beginner:creating_a_cram_package [2014/03/11 13:39] (current) – hmess | ||
---|---|---|---|
Line 9: | Line 9: | ||
===== Creating a ROS package ===== | ===== Creating a ROS package ===== | ||
- | First we need to create a ROS package. It needs to depend on '' | + | First we need to create a ROS package |
+ | You can do this with either catkin or rosbuild. | ||
- | **catkin** | + | **For catkin** |
- | Go to '' | + | |
+ | Go to the '' | ||
<code bash>$ cd MY_CATKIN_WORKSPACE_PATH/ | <code bash>$ cd MY_CATKIN_WORKSPACE_PATH/ | ||
- | |||
and execute the following: | and execute the following: | ||
- | |||
<code bash>$ catkin_create_pkg cram_beginner_tutorial cram_language </ | <code bash>$ catkin_create_pkg cram_beginner_tutorial cram_language </ | ||
- | |||
More information on '' | More information on '' | ||
+ | < | ||
+ | or on the [[http:// | ||
- | <code bash>$ catkin_create_pkg --help</ | + | **For rosbuild** |
- | + | ||
- | or on [[http:// | + | |
- | + | ||
- | **rosbuild** | + | |
- | Please use '' | + | |
+ | Please use '' | ||
In your rosbuild workspace root do: | In your rosbuild workspace root do: | ||
- | |||
<code bash>$ roscreate-pkg cram_beginner_tutorial cram_language</ | <code bash>$ roscreate-pkg cram_beginner_tutorial cram_language</ | ||
- | |||
That was easy. Now we need to set up the Lisp infrastructure. | That was easy. Now we need to set up the Lisp infrastructure. | ||
- | |||
===== Setting up the Lisp infrastructure ===== | ===== Setting up the Lisp infrastructure ===== | ||
Line 54: | Line 47: | ||
=== The code === | === The code === | ||
- | Put the following content into '' | + | Put the following content into '' |
<code lisp> | <code lisp> | ||
Line 92: | Line 85: | ||
==== Exporting the ASDF system to ROS ==== | ==== Exporting the ASDF system to ROS ==== | ||
- | To actually load the ASDF system, all files referenced in the system definition must be present and we are missing the file '' | + | To actually load the ASDF system, all files referenced in the system definition must be present and we are missing the file '' |
<code lisp> | <code lisp> |