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tutorials:advanced:bullet_world_robot [2015/09/17 15:34] – [Directory / file setup] gkazhoyatutorials:advanced:bullet_world_robot [2015/09/17 15:54] (current) – [Boxy Prolog description] gkazhoya
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 Also, an empty ''cram_quadrotor/cram_quadrotor_knowledge/src/quadrotor-knowledge.lisp''. Also, an empty ''cram_quadrotor/cram_quadrotor_knowledge/src/quadrotor-knowledge.lisp''.
  
-Now, let's compile our new packages (''catkin_make'') and load them through the REPL:+Now, let's compile our new packages (''catkin_make'') and load them through the REPL (you need to restart your REPL after you create a new ROS package so that it finds it):
  
 <code lisp> <code lisp>
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 Now, let's describe our robot in Prolog, such that we could do some reasoning with it. Now, let's describe our robot in Prolog, such that we could do some reasoning with it.
  
-We fill in the file ''cram_boxy/cram_boxy_knowledge/src/boxy-knowledge.lisp'' with some simple descriptions of Boxy, which are the ones relevant for navigation and vision. We will leave manipulation out for now as it is too complex for the scope of this tutorial.+We fill in the file ''cram_quadrotor/cram_quadrotor_knowledge/src/quadrotor-knowledge.lisp'' with some simple descriptions of our robot, which are the ones relevant for navigation and vision. For robots with arms one could also implement manipulation-specific functionality but this is too complex for the scope of this tutorial.
  
 As can be seen from the TF tree, our robot has 3 camera frames, 1 depth and 1 RGB frame from a Kinect camera, and an RGB frame from a Kinect2 camera. As can be seen from the TF tree, our robot has 3 camera frames, 1 depth and 1 RGB frame from a Kinect camera, and an RGB frame from a Kinect2 camera.