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tutorials:beginner:location_designators_2 [2019/07/09 18:57] – [Using a location designator] gkazhoyatutorials:beginner:location_designators_2 [2022/02/25 23:20] (current) – [Using location designators with the TurtleSim] schimpf
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 **Next Tutorial:** [[tutorials:beginner:high_level_plans|Writing plans for the TurtleSim]] **Next Tutorial:** [[tutorials:beginner:high_level_plans|Writing plans for 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)
 +</code>
 ===== Location designators: an overview ===== ===== Location designators: an overview =====
  
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          (let ((target-point (reference motion)))          (let ((target-point (reference motion)))
            (roslisp:ros-info (turtle-process-modules)            (roslisp:ros-info (turtle-process-modules)
-                             "Goint to point ~a." target-point)+                             "Going to point ~a." target-point)
            (move-to target-point)))))))            (move-to target-point)))))))
  
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                                (horizontal-position ?horizontal-position)                                (horizontal-position ?horizontal-position)
                                (vertical-position ?vertical-position)))                                (vertical-position ?vertical-position)))
-               (goal (desig:a motion (type :going-to) (:goal ?area))))+               (goal (desig:a motion (type going-to) (goal ?area))))
           (cram-executive:perform goal))))))           (cram-executive:perform goal))))))
 </code> </code>