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tutorials:beginner:assigning_actions_2 [2017/07/27 08:12] – [Automatically choosing a process module for a motion] Add prevoius and next tutorial cpo | tutorials:beginner:assigning_actions_2 [2019/07/09 18:27] – [Setting up fact groups to select a process module] gkazhoya | ||
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- | **Previous Tutorial:** [[tutorials: | + | **Previous Tutorial:** [[tutorials: |
- | **Next Tutorial:** [[tutorials: | + | **Next Tutorial:** [[tutorials: |
===== Setting up fact groups to select a process module ===== | ===== Setting up fact groups to select a process module ===== | ||
- | First let's create a new file '' | + | First let's create a new file '' |
<code lisp> | <code lisp> | ||
- | (defsystem cram-beginner-tutorial | + | (defsystem cram-my-beginner-tutorial |
:depends-on (cram-language roslisp turtlesim-msg geometry_msgs-msg cl-transforms | :depends-on (cram-language roslisp turtlesim-msg geometry_msgs-msg cl-transforms | ||
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" | " | ||
" | " | ||
- | " | + | " |
- | " | + | |
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" | " | ||
- | " | ||
" | " | ||
</ | </ | ||
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T | T | ||
</ | </ | ||
+ | |||
+ | You can also perform '' | ||
+ | |||
+ | <code lisp> | ||
+ | | ||
+ | [(TURTLE-PROCESS-MODULES) INFO] 1504786623.566: | ||
+ | SETTING-PEN) | ||
+ | (OFF | ||
+ | 1)) {1002BB26A3}>' | ||
+ | [TURTLESIM-SRV: | ||
+ | TUT> (perform-some-motion fast-circle) | ||
+ | [(TURTLE-PROCESS-MODULES) INFO] 1504786630.845: | ||
+ | | ||
+ | (SPEED | ||
+ | 10) | ||
+ | (ANGLE | ||
+ | 7)) {1002BB2CD3}>' | ||
+ | 1 | ||
+ | </ | ||
+ | |||
+ | You can turn the pen back on with this: | ||
+ | |||
+ | <code lisp> | ||
+ | (perform-some-motion (desig:a motion (type setting-pen) (off 0))) | ||
+ | [(TURTLE-PROCESS-MODULES) INFO] 1504786654.744: | ||
+ | SETTING-PEN) | ||
+ | (OFF | ||
+ | 0)) {1002D6D763}>' | ||
+ | [TURTLESIM-SRV: | ||
+ | </ | ||
+ | |||
+ | == Next == | ||
+ | |||
+ | Let's have a look at location designators and other ways to move the turtle, as well as have some more practice with designator resolution and process modules … | ||
+ | |||
+ | [[tutorials: |