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--- tutorials:beginner:assigning_actions_2 [2019/07/09 19:09] – gkazhoya
+++ tutorials:beginner:assigning_actions_2 [2022/02/25 23:19] (current) – [Automatically choosing a process module for a motion] schimpf
@@ Line 6: / Line 6: @@
 **Previous Tutorial:** [[tutorials:beginner:process_modules_2|Creating process modules]]\\
 **Next Tutorial:** [[tutorials:beginner:location_designators_2|Using location designators with the TurtleSim]]\\
+To run the code in the tutuorial the roscore and the turtlesim need to be started over the terminal. Each in their own tab.
+<code bash>
+$ roscore
+</code>
+<code bash>
+$ rosrun turtlesim turtlesim_node
+</code>
+And in the REPL the following commands should be executed:
+<code lisp>
+CL-USER>(ros-load:load-system "cram_my_beginner_tutorial" :cram-my-beginner-tutorial)
+...
+CL-USER>(in-package :tut)
+...
+TUT>(start-ros-node "turtle1")
+...
+TUT>(init-ros-turtle "turtle1")
+</code>
 ===== Setting up fact groups to select a process module =====
@@ Line 14: / Line 34: @@
 (defsystem cram-my-beginner-tutorial
   :depends-on (cram-language roslisp turtlesim-msg geometry_msgs-msg cl-transforms
-                             cram-designators cram-prolog
+                             cram-designators cram-prolog turtlesim-srv
                              cram-process-modules cram-language-designator-support
                              cram-executive)