CRAM Tutorials

You can find the source code to most of the CRAM tutorials on GitHub.

This tutorial is a short demonstration of some things that one can do with CRAM, which assumes no prior knowledge of Ubuntu, ROS, Emacs, Lisp or robotics. If after going through this tutorial, you find out that the system is cool and you'd like to learn more about it, you can go ahead and start with Beginner Tutorials (see below) or roslisp tutorials (see under External tutorials section below).

Zero prerequisites demo tutorial: Simple fetch and place

(tested with v0.7.0)

• Creating a CRAM package
• Controlling turtlesim from CRAM
• Implementing simple plans to move a turtle
• Using Prolog for reasoning
• Creating motion designators for the TurtleSim
• Creating process modules
• Automatically choosing a process module for a motion
• Using location designators with the TurtleSim
• Writing plans for the TurtleSim
• Implementing failure handling for the TurtleSim
• Writing tests

• Performing Action Designators (v0.7.0)
• Triggering and handling (custom) events (v0.7.0)
• Location costmaps (v0.7.0)
• Bullet world demonstration: using specialized inference mechanisms and projection (v0.7.0)
• How to write a simple mobile manipulation plan (v0.7.0)
• Performing mobile manipulation actions defined in CRAM (in construction) (v0.7.0)

• Using JSON Prolog to communicate with KnowRob (v0.7.0)
• Using data acquired in VR on the robot (in construction)
• How fetch and deliver plans are implemented (v0.7.0)
• Implementing new types of actions (in construction) (v0.6.0)
• Semantic environment maps in CRAM (v0.6.0)
• Introducing a new robot to CRAM (v0.7.0)
• Using MoveIt! from CRAM (v0.2.0)
• Collisions and Constraints in MoveIt! (v0.2.0)
• Writing plans with policies (v0.1.0)
• Plan transformations: task trees, code replacement, and serialization (v0.2.0)

• Roslisp Tutorials
• Tf Tutorials
• Visualization Tutorials
• Catkin Tutorials