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tutorials:beginner:process_modules [2016/01/25 11:30] – gkazhoya | tutorials:beginner:process_modules [2016/03/04 14:25] (current) – old revision restored (2016/01/25 18:26) gkazhoya | ||
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A process module is a program that controls a robot actuator. Different robots will have different kinds of actuators, requiring different kinds of controllers, | A process module is a program that controls a robot actuator. Different robots will have different kinds of actuators, requiring different kinds of controllers, | ||
- | For better organization, | + | For better organization, |
* :navigation | * :navigation | ||
Line 133: | Line 133: | ||
In the above code we define a simple function to convert an edge and radius pair of values into a goal for the action client, and a function that will call said action client, with some error handling built in (for example, if the function is called without an action client being defined, it will (re)initialize one and retry). | In the above code we define a simple function to convert an edge and radius pair of values into a goal for the action client, and a function that will call said action client, with some error handling built in (for example, if the function is called without an action client being defined, it will (re)initialize one and retry). | ||
- | Now that the lower level of controlling the turtlesim | + | Now that the lower level of controlling the TurtleSim |
<code lisp> | <code lisp> | ||
(in-package :tut) | (in-package :tut) | ||
- | (def-process-module | + | (def-process-module |
(roslisp: | (roslisp: | ||
- | " | + | " |
action-designator) | action-designator) | ||
(destructuring-bind (command action-goal) (reference action-designator) | (destructuring-bind (command action-goal) (reference action-designator) | ||
Line 151: | Line 151: | ||
(defmacro with-turtle-process-modules (&body body) | (defmacro with-turtle-process-modules (&body body) | ||
`(with-process-modules-running | `(with-process-modules-running | ||
- | (turtle-actuators) | + | (actionlib-navigation) |
, | , | ||
</ | </ | ||
- | First, we use the '' | + | First, we use the '' |
- | The '' | + | The '' |
Let's try this out. Make sure you have '' | Let's try this out. Make sure you have '' | ||
Line 170: | Line 170: | ||
<code lisp> | <code lisp> | ||
- | (defun draw-hexagon (r) | + | (defun draw-hexagon (radius) |
(let ((turtle-name " | (let ((turtle-name " | ||
(start-ros-node turtle-name) | (start-ros-node turtle-name) | ||
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(top-level | (top-level | ||
(with-turtle-process-modules | (with-turtle-process-modules | ||
- | (cpm:process-module-alias :manipulation | + | (process-module-alias :navigation |
- | (cram-language-designator-support: | + | (with-designators |
- | ((trajectory | + | ((trajectory |
- | (cpm:pm-execute :manipulation | + | (pm-execute :navigation |
</ | </ | ||
- | What the function does is simply start a ROS node for our turtle and sets up the action client, then activates the turtle process modules (in our case, the sole existing one), creates a designator to describe how the turtle should move, and calls the cpm:pm-execute macro to have the process module follow the trajectory specified by the designator. | + | What the function does is simply start a ROS node for our turtle and sets up the action client, then activates the turtle process modules (in our case, the sole existing one), creates a designator to describe how the turtle should move, and calls the '' |
- | Two other things to observe here are the use of the top-level macro, which sets up a CRAM running context and is needed for with-turtle-process-modules. Also, we declare that :manipulation | + | Two other things to observe here are the use of the '' |
Reload the tutorial in REPL, and let's try to start the tutorial | Reload the tutorial in REPL, and let's try to start the tutorial | ||
<code lisp> | <code lisp> | ||
- | TUT> (draw-hexagon | + | TUT> (draw-hexagon |
- | [(ROSLISP TOP) INFO] 1413894471.489: Node name is /turtle1 | + | [(ROSLISP TOP) INFO] 1453721727.445: Node name is /turtle1 |
- | [(ROSLISP TOP) INFO] 1413894471.489: Namespace is / | + | [(ROSLISP TOP) INFO] 1453721727.446: Namespace is / |
- | [(ROSLISP TOP) INFO] 1413894471.489: Params are NIL | + | [(ROSLISP TOP) INFO] 1453721727.446: Params are NIL |
- | [(ROSLISP TOP) INFO] 1413894471.489: Remappings are: | + | [(ROSLISP TOP) INFO] 1453721727.446: Remappings are: |
- | [(ROSLISP TOP) INFO] 1413894471.489: master URI is 127.0.0.1: | + | [(ROSLISP TOP) INFO] 1453721727.446: master URI is 127.0.0.1: |
- | [(ROSLISP TOP) INFO] 1413894472.493: Node startup complete | + | [(ROSLISP TOP) INFO] 1453721728.452: Node startup complete |
- | [(TURTLE-PROCESS-MODULES) INFO] 1413894472.501: Turtle navigation invoked with action designator `#< | + | [(TURTLE-PROCESS-MODULES) INFO] 1453721728.467: Turtle |
SHAPE) | SHAPE) | ||
| | ||
HEXAGON) | HEXAGON) | ||
| | ||
- | | + | |
An error occured! | An error occured! | ||
Client lost connection to server. | Client lost connection to server. | ||
Reinitializing... | Reinitializing... | ||
- | [(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1413894480.479: Waiting for turtle shape action server... | + | [(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1453721736.385: Waiting for turtle shape action server... |
- | [(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1413894482.480: Turtle shape action client created. | + | [(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1453721738.386: Turtle shape action client created. |
- | [(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1413894505.711: Nav action finished. | + | [(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1453721761.206: Nav action finished. |
[TURTLE_ACTIONLIB-MSG: | [TURTLE_ACTIONLIB-MSG: | ||
| | ||
| | ||
| | ||
- | 2.598076105117798d0] | + | 1.7320507764816284d0] |
:SUCCEEDED | :SUCCEEDED | ||
</ | </ | ||
- | You should also see the turtle move in the turtlesim | + | You should also see the turtle move in the TurtleSim |
== Next == | == Next == | ||
Line 224: | Line 224: | ||
[[tutorials: | [[tutorials: | ||
- |