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tutorials:beginner:location_designators_2 [2019/07/09 18:29] – [Location designator generators] gkazhoya | tutorials:beginner:location_designators_2 [2019/07/09 19:21] – [Using a location designator] gkazhoya | ||
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===== Location designator generators ===== | ===== Location designator generators ===== | ||
- | Let's create a new file called '' | + | Let's create a new file called '' |
<code lisp> | <code lisp> | ||
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+ | | ||
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" | " | ||
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" | " | ||
- | " | + | " |
- | | + | |
</ | </ | ||
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TUT> goal-desig | TUT> goal-desig | ||
- | #< | + | #<A LOCATION |
- | | + | |
+ | (HORIZONTAL-POSITION LEFT)> | ||
</ | </ | ||
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</ | </ | ||
- | Depending on the random number generator we will get some or none of the solutions rejected and, therefore, ''< | + | Depending on the random number generator we will get some or none of the solutions rejected and, therefore, ''< |
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(let ((target-point (reference motion))) | (let ((target-point (reference motion))) | ||
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- | " | + | " |
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- | (goal (desig:a motion (type :going-to) (:goal ?area)))) | + | (goal (desig:a motion (type going-to) (goal ?area)))) |
(cram-executive: | (cram-executive: | ||
</ | </ | ||
- | In '' | + | In '' |
<code lisp> | <code lisp> | ||
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[(ROSLISP TOP) INFO] 1501153969.641: | [(ROSLISP TOP) INFO] 1501153969.641: | ||
[(ROSLISP TOP) INFO] 1501153970.649: | [(ROSLISP TOP) INFO] 1501153970.649: | ||
- | [(TURTLE-PROCESS-MODULES) INFO] 1501153970.689: TurtleSim navigation invoked with motion designator `#< | + | [(TURTLE-PROCESS-MODULES) INFO] 1562698457.619: TurtleSim navigation invoked with motion designator `#<A MOTION |
- | GOING-TO) | + | |
- | (GOAL | + | (GOAL #<A LOCATION |
- | #< | + | (HORIZONTAL-POSITION RIGHT) |
- | ((HORIZONTAL-POSITION | + | (VERTICAL-POSITION TOP)> |
- | RIGHT) | + | [(TURTLE-PROCESS-MODULES) INFO] 1501153970.691: |
- | (VERTICAL-POSITION | + | |
- | TOP)) | + | |
- | | + | |
- | [(TURTLE-PROCESS-MODULES) INFO] 1501153970.691: | + | |
T | T | ||
+ | </ | ||
+ | |||
+ | If you already had a running node in the REPL, you might get the error shown below but that is absolutely normal: ROS simply notifies you that it is going to shut down the previous node and start a new one. | ||
+ | <code lisp> | ||
+ | WARNING: | ||
+ | | ||
</ | </ | ||