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tutorials:beginner:assigning_actions_2 [2017/09/07 12:18] – Showed example of using pen motions. cpotutorials: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:beginner:process_modules|Creating process modules]]\\ +**Previous Tutorial:** [[tutorials:beginner:process_modules_2|Creating process modules]]\\ 
-**Next Tutorial:** [[tutorials:beginner:location_designators|Using location designators with the turtlesim]]\\+**Next Tutorial:** [[tutorials:beginner:location_designators_2|Using location designators with the TurtleSim]]\\
  
 ===== 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 ''selecting-process-modules.lisp'' and add it to our ''*.asd'' file, which should now look like this:+First let's create a new file ''selecting-process-modules.lisp'' and add it to our ''*.asd'' file. We also need to add ''cram-executive'' as a dependency to our system. It should now look like this:
  
 <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
                              cram-designators cram-prolog                              cram-designators cram-prolog
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              (:file "simple-plans" :depends-on ("package" "control-turtlesim"))              (:file "simple-plans" :depends-on ("package" "control-turtlesim"))
              (:file "motion-designators" :depends-on ("package"))              (:file "motion-designators" :depends-on ("package"))
-             (:file "turtle-action-client" :depends-on ("package")) 
              (:file "process-modules" :depends-on ("package"              (:file "process-modules" :depends-on ("package"
                                                    "control-turtlesim"                                                    "control-turtlesim"
                                                    "simple-plans"                                                    "simple-plans"
-                                                   "motion-designators" +                                                   "motion-designators"))
-                                                   "turtle-action-client"))+
              (:file "selecting-process-modules" :depends-on ("package"              (:file "selecting-process-modules" :depends-on ("package"
                                                              "motion-designators"                                                              "motion-designators"
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 [TURTLESIM-SRV:SETPEN-RESPONSE] [TURTLESIM-SRV:SETPEN-RESPONSE]
 </code> </code>
 +
 +== 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:beginner:location_designators_2|Using location designators with the TurtleSim]]