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--- tutorials:beginner:assigning_actions [2016/01/25 22:12] – gkazhoya
+++ tutorials:beginner:assigning_actions [2016/03/04 14:25] (current) – old revision restored (2016/01/25 23:21) gkazhoya
@@ Line 76: / Line 76: @@
 <code lisp>
-CL-USER> (in-package :tut)
+TUT> (defparameter center-location
-TUT> (defparameter shape-action (make-designator 'action `((type shape) (shape triangle) (radius 1.6))))
+       (make-designator :location '((:horizontal-position :center) (:vertical-position :center))))
+CENTER-LOCATION
+TUT> (defparameter goal-action
+       (make-designator :action `((:type :goal) (:goal ,center-location))))
+GOAL-ACTION
+TUT> (defparameter shape-action
+       (make-designator :action '((:type :shape) (:shape :triangle) (:radius 1.6))))
 SHAPE-ACTION
-TUT> (defparameter navigation-action (make-designator 'action `((type navigation) (goal ,(make-designator 'location `((vpos center) (hpos center)))))))
-NAVIGATION-ACTION
 </code>
-With these designators defined, see what happens if you try to call them. For example,
+With these designators defined, see what happens if you try to execute them. For example,
 <code lisp>
-TUT> (do-action-designator shape-action)
+TUT> (perform-some-action goal-action)
 WARNING:
    Before starting node, node-status equalled RUNNING instead of :shutdown.  Shutting the previous node invocation down now.
-[(ROSLISP EVENT-LOOP) INFO] 1415203378.618: Terminating ROS Node event loop
+[(ROSLISP EVENT-LOOP) INFO] 1453760373.719: Terminating ROS Node event loop
-[(ROSLISP TOP) INFO] 1415203379.040: Shutdown complete
+[(ROSLISP TOP) INFO] 1453760374.142: Shutdown complete
-[(ROSLISP TOP) INFO] 1415203379.042: Node name is /turtle1
+[(ROSLISP TOP) INFO] 1453760374.149: Node name is /turtle1
-[(ROSLISP TOP) INFO] 1415203379.042: Namespace is /
+[(ROSLISP TOP) INFO] 1453760374.149: Namespace is /
-[(ROSLISP TOP) INFO] 1415203379.042: Params are NIL
+[(ROSLISP TOP) INFO] 1453760374.150: Params are NIL
-[(ROSLISP TOP) INFO] 1415203379.042: Remappings are:
+[(ROSLISP TOP) INFO] 1453760374.150: Remappings are:
-[(ROSLISP TOP) INFO] 1415203379.042: master URI is 127.0.0.1:11311
+[(ROSLISP TOP) INFO] 1453760374.150: master URI is 127.0.0.1:11311
-[(ROSLISP TOP) INFO] 1415203380.047: Node startup complete
+[(ROSLISP TOP) INFO] 1453760375.155: Node startup complete
-[(TURTLE-PROCESS-MODULES) INFO] 1415203380.190: Turtle navigation invoked with action designator `#<ACTION-DESIGNATOR ((TYPE
+[(TURTLE-PROCESS-MODULES) INFO] 1453760375.181: Turtle simple navigation invoked with action designator `#<ACTION-DESIGNATOR ((TYPE
-                                                                        SHAPE)
+                                                                               GOAL)
-                                                                       (SHAPE
+                                                                              (GOAL
-                                                                        TRIANGLE)
+                                                                               #<LOCATION-DESIGNATOR
-                                                                       (RADIUS
+                                                                                 ((HORIZONTAL-POSITION
-.6)) {1005C58BE3}>'.
+                                                                                   CENTER)
-[(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1415203380.231: Waiting for turtle shape action server...
+                                                                                  (VERTICAL-POSITION
-[(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1415203382.278: Turtle shape action client created.
+                                                                                   CENTER))
-[(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1415203394.276: Nav action finished.
+                                                                                 {100A70EDE3}>)) {100B05B333}>'.
-[TURTLE_ACTIONLIB-MSG:SHAPERESULT
+[(TURTLE-PROCESS-MODULES) INFO] 1453760375.184: Going to point #<3D-VECTOR (4.381962776184082d0 4.012950897216797d0 0.0d0)>.
-   INTERIOR_ANGLE:
+T
-.0471975803375244d0
-   APOTHEM:
-.800000011920929d0]
 </code>
-The turtle should also have moved and traced the requested triangle. We can also try and bring it somewhere near the center of its screen:
+The turtle should have moved somewhere to the center of its screen.
+Let's see if it will draw the triangle shape:
 <code lisp>
-TUT> (do-action-designator navigation-action)
+TUT> (perform-some-action shape-action)
 WARNING:
    Before starting node, node-status equalled RUNNING instead of :shutdown.  Shutting the previous node invocation down now.
-[(ROSLISP EVENT-LOOP) INFO] 1415203565.890: Terminating ROS Node event loop
+[(ROSLISP EVENT-LOOP) INFO] 1453760384.426: Terminating ROS Node event loop
-[(ROSLISP TOP) INFO] 1415203566.382: Shutdown complete
+[(ROSLISP TOP) INFO] 1453760384.903: Shutdown complete
-[(ROSLISP TOP) INFO] 1415203566.385: Node name is /turtle1
+[(ROSLISP TOP) INFO] 1453760384.906: Node name is /turtle1
-[(ROSLISP TOP) INFO] 1415203566.385: Namespace is /
+[(ROSLISP TOP) INFO] 1453760384.907: Namespace is /
-[(ROSLISP TOP) INFO] 1415203566.385: Params are NIL
+[(ROSLISP TOP) INFO] 1453760384.907: Params are NIL
-[(ROSLISP TOP) INFO] 1415203566.385: Remappings are:
+[(ROSLISP TOP) INFO] 1453760384.907: Remappings are:
-[(ROSLISP TOP) INFO] 1415203566.386: master URI is 127.0.0.1:11311
+[(ROSLISP TOP) INFO] 1453760384.907: master URI is 127.0.0.1:11311
-[(ROSLISP TOP) INFO] 1415203567.392: Node startup complete
+[(ROSLISP TOP) INFO] 1453760385.913: Node startup complete
-[(TURTLE-PROCESS-MODULES) INFO] 1415203567.525: Turtle navigation invoked with action designator `#<ACTION-DESIGNATOR ((TYPE
+[(TURTLE-PROCESS-MODULES) INFO] 1453760385.930: Turtle shape navigation invoked with action designator `#<ACTION-DESIGNATOR ((TYPE
-                                                                        NAVIGATION)
+                                                                              SHAPE)
-                                                                       (GOAL
+                                                                             (SHAPE
-                                                                        #<LOCATION-DESIGNATOR
+                                                                              TRIANGLE)
-                                                                          ((VPOS
+                                                                             (RADIUS
-                                                                            CENTER)
+.6)) {100BA6F7A3}>'.
-                                                                           (HPOS
+[(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1453760385.968: Waiting for turtle shape action server...
-                                                                            CENTER))
+[(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1453760387.968: Turtle shape action client created.
-                                                                          {10074B8163}>)) {10074B8533}>'.
+[(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1453760399.919: Nav action finished.
+[TURTLE_ACTIONLIB-MSG:SHAPERESULT
-#<CL-TRANSFORMS:3D-VECTOR (5.806711673736572d0 5.260904312133789d0 0.0d0)>
+   INTERIOR_ANGLE:
-T
+.0471975803375244d0
+   APOTHEM:
+.800000011920929d0]
 </code>
-You should also see the turtle move to a central location.