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Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
tutorials:beginner:motion_designators [2019/07/09 19:05] – [Adding a motion for controlling the pen] gkazhoya | tutorials:beginner:motion_designators [2022/02/25 23:14] (current) – [Creating motion designators for the TurtleSim] schimpf | ||
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**Description: | **Description: | ||
- | **Previous Tutorial:** [[tutorials: | + | **Previous Tutorial:** [[tutorials: |
**Next Tutorial:** [[tutorials: | **Next Tutorial:** [[tutorials: | ||
+ | |||
+ | To run the code in the tutuorial the roscore and the turtlesim need to be started in the terminal. Each in their own tab. | ||
+ | <code bash> | ||
+ | $ roscore | ||
+ | </ | ||
+ | <code bash> | ||
+ | $ rosrun turtlesim turtlesim_node | ||
+ | </ | ||
===== Designators: | ===== Designators: | ||
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<code lisp> | <code lisp> | ||
(defsystem cram-my-beginner-tutorial | (defsystem cram-my-beginner-tutorial | ||
- | :depends-on (cram-language roslisp turtlesim-msg geometry_msgs-msg cl-transforms | + | :depends-on (cram-language roslisp turtlesim-msg |
+ | geometry_msgs-msg cl-transforms | ||
| | ||
:components | :components | ||
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</ | </ | ||
- | Now, reload the tutorial in '' | + | Now, reload the tutorial in '' |
+ | |||
+ | <code lisp> | ||
+ | PROLOG> (ros-load: | ||
+ | PROLOG> (in-package :tut) | ||
+ | </ | ||
==== Creating a motion designator ==== | ==== Creating a motion designator ==== | ||
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1.5 | 1.5 | ||
</ | </ | ||
+ | |||
+ | We call the variable '' | ||
We use the '' | We use the '' | ||
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<code lisp> | <code lisp> | ||
TUT> (defparameter *my-desig2* (desig:a motion (type driving) (speed 1.5) (angle 2))) | TUT> (defparameter *my-desig2* (desig:a motion (type driving) (speed 1.5) (angle 2))) | ||
- | MY-DESIG2 | + | *MY-DESIG2 |
TUT> (reference *my-desig2*) | TUT> (reference *my-desig2*) | ||
(DRIVE # | (DRIVE # | ||
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<code lisp> | <code lisp> | ||
TUT> (defparameter *my-desig3* (desig:a motion (type setting-pen) (r 100) (g 150) (b 0) (width 5))) | TUT> (defparameter *my-desig3* (desig:a motion (type setting-pen) (r 100) (g 150) (b 0) (width 5))) | ||
- | MY-DESIG3 | + | *MY-DESIG3* |
TUT> (reference *my-desig3*) | TUT> (reference *my-desig3*) | ||
(SET-PEN # | (SET-PEN # |