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tutorials:beginner:package_for_turtlesim [2019/07/03 11:45] – [Creating an ASDF system] tlippstutorials:beginner:package_for_turtlesim [2019/07/09 18:02] (current) – [Exporting the ASDF system to ROS] gkazhoya
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 <code lisp> <code lisp>
-(defpackage :cram-beginner-tutorial+(defpackage :cram-my-beginner-tutorial
   (:nicknames :tut)   (:nicknames :tut)
   (:use :cpl))   (:use :cpl))
 </code>   </code>  
      
-We define a package with the name ''cram-beginner-tutorial''. Packages in Common Lisp can have an arbitrary number of nicknames. In our case we nickname ''cram-beginner-tutorial'' as ''tut''. Finally, we define that the package uses another package ''cpl'' which is a nickname of the package  ''cram-language'' from the metapackage ''cram_core''. +We define a package with the name ''cram-my-beginner-tutorial''. Packages in Common Lisp can have an arbitrary number of nicknames. In our case we nickname ''cram-my-beginner-tutorial'' as ''tut''. Finally, we define that the package uses another package ''cpl'' which is a nickname of the package  ''cram-language'' from the metapackage ''cram_core''. 
  
 ==== Exporting the ASDF system to ROS ==== ==== Exporting the ASDF system to ROS ====
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 This just selects the namespace of the file by the nickname '':tut'' we defined in ''package.lisp''. We will fill it with more content in the next tutorial. This just selects the namespace of the file by the nickname '':tut'' we defined in ''package.lisp''. We will fill it with more content in the next tutorial.
  
-Now we are ready to compile and load our new system. Launch the Lisp REPL (''$ roslisp_repl'', if you already have a REPL running, keep in mind that you need to restart it whenever a new ROS package is added to the workspace). +Now we are ready to compile and load our new system. First of all, let us compile the ROS workspace, such that ROS knows about our new ''cram_my_beginner_tutorial'' package: 
 + 
 +<code bash> 
 +$ roscd && cd .. && catkin_make 
 +</code> 
 + 
 +Then launch the Lisp REPL (''$ roslisp_repl'', if you already have a REPL running, keep in mind that you need to restart it whenever a new ROS package is added to the workspace). 
 Then load your newly created system by typing: Then load your newly created system by typing:
  
 <code lisp> <code lisp>
-CL-USER> (ros-load:load-system "cram_beginner_tutorial" :cram-beginner-tutorial)+CL-USER> (ros-load:load-system "cram_my_beginner_tutorial" :cram-my-beginner-tutorial)
 </code> </code>
  
-This loads the ''cram-beginner-tutorial'' of the package ''cram_beginner_tutorial''.+This loads the ''cram-my-beginner-tutorial'' of the package ''cram_my_beginner_tutorial''.
 Test it by evaluating Test it by evaluating