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doc:beginner:package_for_turtlesim [2014/03/12 14:23] – created hmessdoc:beginner:package_for_turtlesim [2014/10/20 11:53] – Added the "Next" title for the last section of the tutorial. mpomarlan
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 ====== Creating a CRAM package ====== ====== Creating a CRAM package ======
  
-**Description:** In this tutorial you will set up a ROS package to use the CRAM plan language within the repl.+**Description:** In this tutorial you will set up a ROS package to use the CRAM plan language within the lisp repl.
  
-**Next Tutorial:** [[doc:beginner:controlling_turtlesim_2|Controlling turtlesim from Lisp_2]]+**Next Tutorial:** [[doc:beginner:controlling_turtlesim_2|Controlling turtlesim from CRAM]]
  
 ===== Creating a ROS package ===== ===== Creating a ROS package =====
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 </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 Plan Language''.  +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'' in the stack ''cram_core''. 
-<!--Please note that most Common Lisp packages actually use the package ''common-lisp'' which exports all symbols of the Common Lisp standard. The packages ''cpl'' and ''common-lisp'' cannot be used together because the CRAM Language re-defines some of the symbols of the ''common-lisp'' package and thus ''cpl'' and ''common-lisp'' would conflict.+
  
- 
- We have to deside how much lisp content we want to have in here. 
---> 
 ==== 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 later tutorials. 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 later tutorials.
  
-Now we are ready to compile and load our new system. Launch the Lisp REPL. If it is already running, reload it by executing: +Now we are ready to compile and load our new system. Launch the Lisp REPL.  
- +Then load your newly created system by typing:
-<code lisp> +
-, +
-restart-inferior-lisp +
-</code> +
- +
-in the REPL. Then load your newly created system by typing:+
  
 <code lisp> <code lisp>
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 </code> </code>
  
-<!--You need to load the system every time before you use it, so experts would build their own shortcuts to this command or use the rosemacs function unstead:+This loads the ''cram-beginner-tutorial'' of the package ''cram_beginner_tutorial''. 
 +Test it by evaluating
  
 <code lisp> <code lisp>
-, +(in-package :tut)
-ros-load-system +
-cram_beginner_tutorial +
-cram-beginner-tutorial+
 </code> </code>
  
-The first parameter to ''ros-load-system'' names the ROS package in which to search for the system, the second parameter names the system to be loaded. Executing the above command should load our new ASDF system. --> +== Next ==
-Now the package ''cram-beginner-tutorial'' should be defined. Test it by evaluating+
  
-<code lisp> 
-(in-package :tut) 
-</code> 
  
 Now that we have created our first CRAM package, let's try controlling the ROS turtlesim from it... Now that we have created our first CRAM package, let's try controlling the ROS turtlesim from it...
  
-[[doc:beginner:controlling_turtlesim_2|Controlling turtlesim from Lisp_2]]+[[doc:beginner:controlling_turtlesim_2|Controlling turtlesim from CRAM]]