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tutorials:beginner:simple_plans [2019/07/11 13:27] gkazhoyatutorials:beginner:simple_plans [2022/02/25 23:15] (current) – [Implementing simple plans to move a turtle] schimpf
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 **Next Tutorial:** [[tutorials:beginner:cram_prolog|Using Prolog for reasoning]] **Next Tutorial:** [[tutorials:beginner:cram_prolog|Using Prolog for reasoning]]
  
- +To run the code in the tutuorial the roscore and the turtlesim need to be started over the terminal. Each in their own tab.  
 +<code bash> 
 +$ roscore 
 +</code> 
 +<code bash> 
 +$ rosrun turtlesim turtlesim_node 
 +</code> 
 + 
 +And in the REPL the following commands need to be executed: 
 +<code lisp> 
 +CL-USER>(ros-load:load-system "cram_my_beginner_tutorial" :cram-my-beginner-tutorial) 
 +... 
 +CL-USER>(in-package :tut) 
 +... 
 +TUT>(start-ros-node "turtle1"
 +... 
 +TUT>(init-ros-turtle "turtle1"
 +</code>
 ===== Moving the turtle towards a point ===== ===== Moving the turtle towards a point =====