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tutorials:beginner:simple_plans [2019/07/10 14:51] – [Writing a plan to move to a waypoint] gkazhoyatutorials:beginner:simple_plans [2019/07/11 13:27] – gkazhoya
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 (defun relative-angle-to (goal pose-msg) (defun relative-angle-to (goal pose-msg)
-  "Given a `pose-msg' as a geometry_msgs/Pose and a `goal' as cl-transforms:3d-vector,+  "Given a `pose-msg' as a turtlesim-msg:pose and a `goal' as cl-transforms:3d-vector,
 calculate the angle by which the pose has to be turned to point toward the goal." calculate the angle by which the pose has to be turned to point toward the goal."
   (let ((diff-pose (cl-transforms:transform-point   (let ((diff-pose (cl-transforms:transform-point