Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
doc:beginner:creating_a_cram_package [2014/01/17 11:15] – gkazhoyadoc: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 ''cram_language''.+First we need to create a ROS package that depend on ''cram_language''. 
 +You can do this with either catkin or rosbuild.
  
-**catkin** +**For catkin**
-Go to ''src'' subdirectory of your catkin workspace:+
  
 +Go to the ''src'' subdirectory of your catkin workspace:
 <code bash>$ cd MY_CATKIN_WORKSPACE_PATH/src</code> <code bash>$ cd MY_CATKIN_WORKSPACE_PATH/src</code>
- 
 and execute the following: and execute the following:
- 
 <code bash>$ catkin_create_pkg cram_beginner_tutorial cram_language </code> <code bash>$ catkin_create_pkg cram_beginner_tutorial cram_language </code>
- 
 More information on ''catkin_create_pkg'' can be found by executing More information on ''catkin_create_pkg'' can be found by executing
 +<code>$ catkin_create_pkg --help</code>
 +or on the [[http://wiki.ros.org/catkin/Tutorials/CreatingPackage|ROS Website]].
  
-<code bash>$ catkin_create_pkg --help</code> +**For rosbuild**
- +
-or on [[http://wiki.ros.org/catkin/Tutorials/CreatingPackage|ROS Website]]. +
- +
-**rosbuild** +
-Please use ''rosbuild'' only if you reeeeally need to. And keep in mind that it is deprecated and will be removed from ROS at some point.+
  
 +Please use ''rosbuild'' only if you really need to. And keep in mind that it is deprecated and will be removed from ROS at some point.
 In your rosbuild workspace root do: In your rosbuild workspace root do:
- 
 <code bash>$ roscreate-pkg cram_beginner_tutorial cram_language</code> <code bash>$ roscreate-pkg cram_beginner_tutorial cram_language</code>
- 
 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 ''cram-tutorial.asd'':+Put the following content into ''cram-beginner-tutorial.asd'':
  
 <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 ''src/tutorial.lisp'', so create it with the following content:+To actually load the ASDF system, all files referenced in the system definition must be present and we are missing the file ''tutorial.lisp'' in ''src'', so create it with the following content:
  
 <code lisp> <code lisp>