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tutorials:beginner:controlling_turtlesim_2 [2019/07/03 12:28] – [ROS dependencies] tlipps | tutorials:beginner:controlling_turtlesim_2 [2019/07/03 12:29] – [ROS dependencies] tlipps |
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==== ROS dependencies ==== | ==== ROS dependencies ==== |
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In this tutorial we will re-use the package ''cram_my_beginner_tutorial'' that you have created in the previous tutorial. For controlling the turtle, we need to depend on the ''turtlesim'' package, since it contains the message definitions we will use. Further, we will want to use the communication functionality of ROS to talk to the ''turtlesim'' from inside Lisp, so we depend on ''roslisp''. Finally, we will have to deal with poses. For that, we want to use the package ''cl_transforms'' and ''geometry_msgs''. Add these dependencies to the ''package.xml'' as described in [[http://wiki.ros.org/catkin/Tutorials/CreatingPackage|Package creation]]. You can find the resulting code in the corresponding [[https://github.com/cram2/cram/tree/boxy/cram_tutorials/cram_beginner_tutorial|Github repo]]. | In this tutorial we will re-use the package ''cram_my_beginner_tutorial'' that you have created in the previous tutorial. For controlling the turtle, we need to depend on the ''turtlesim'' package, since it contains the message definitions we will use. Further, we will want to use the communication functionality of ROS to talk to the ''turtlesim'' from inside Lisp, so we depend on ''roslisp''. Finally, we will have to deal with poses. For that, we want to use the package ''cl_transforms'' and ''geometry_msgs''. Add these dependencies to the ''package.xml'' as described in [[http://wiki.ros.org/catkin/Tutorials/CreatingPackage|Package creation]]. You can find the resulting code in the corresponding [[https://github.com/cram2/cram/tree/master/cram_tutorials/cram_beginner_tutorial|Github repo]]. |
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==== ASDF dependencies ==== | ==== ASDF dependencies ==== |