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tutorials:beginner:assigning_actions_2 [2017/07/27 08:09] – changed titles cpotutorials:beginner:assigning_actions_2 [2019/07/29 10:36] – Added turtlesim-srv to the dependencies amar
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 **Description:** in previous tutorials we called a process module explicitly via ''cram-process-modules:pm-execute'', and fed them appropriate action designators. However, it is sometimes useful to reason about what process module to use to handle a given designator. To illustrate the CRAM infrastructure that allows this, we provide a very simple example here. **Description:** in previous tutorials we called a process module explicitly via ''cram-process-modules:pm-execute'', and fed them appropriate action designators. However, it is sometimes useful to reason about what process module to use to handle a given designator. To illustrate the CRAM infrastructure that allows this, we provide a very simple example here.
  
-**Previous Tutorial:** [[tutorials:beginner:location_designators|Using location designators with the turtlesim]]\\+ 
 +**Previous Tutorial:** [[tutorials:beginner:process_modules_2|Creating process modules]]\\ 
 +**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 turtlesim-srv
                              cram-process-modules cram-language-designator-support                              cram-process-modules cram-language-designator-support
                              cram-executive)                              cram-executive)
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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"
-                                                             "location-designators" 
                                                              "process-modules"))))))                                                              "process-modules"))))))
 </code> </code>
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 <code lisp> <code lisp>
-TUT> (defparameter fast-circle (desig:a motion (type driving) (speed 10) (angle 7))) +TUT> (defparameter *fast-circle* (desig:a motion (type driving) (speed 10) (angle 7))) 
-FAST-CIRCLE +*FAST-CIRCLE* 
-TUT> (defparameter goal (desig:a motion (type moving) (goal (1 9 0)))) +TUT> (defparameter *goal* (desig:a motion (type moving) (goal (1 9 0)))) 
-GOAL +*GOAL* 
-TUT> (defparameter pen-off (desig:a motion (type setting-pen) (off 1))) +TUT> (defparameter *pen-off* (desig:a motion (type setting-pen) (off 1))) 
-PEN-OFF+*PEN-OFF*
 </code> </code>
  
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 <code lisp> <code lisp>
-TUT> (perform-some-motion fast-circle)+TUT> (perform-some-motion *fast-circle*)
 [(TURTLE-PROCESS-MODULES) INFO] 1501142699.638: TurtleSim navigation invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE [(TURTLE-PROCESS-MODULES) INFO] 1501142699.638: TurtleSim navigation invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE
                                                                            DRIVING)                                                                            DRIVING)
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 <code lisp> <code lisp>
-(perform-some-motion goal)+(perform-some-motion *goal*)
 [(TURTLE-PROCESS-MODULES) INFO] 1501142702.867: TurtleSim navigation invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE [(TURTLE-PROCESS-MODULES) INFO] 1501142702.867: TurtleSim navigation invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE
                                                                            MOVING)                                                                            MOVING)
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 T T
 </code> </code>
 +
 +You can also perform ''*pen-off*'' and then one of the others to see that the turtle doesn't leave a trace anymore.
 +
 +<code lisp>
 + (perform-some-motion *pen-off*)
 +[(TURTLE-PROCESS-MODULES) INFO] 1504786623.566: TurtleSim pen control invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE
 +                                                                            SETTING-PEN)
 +                                                                           (OFF
 +                                                                            1)) {1002BB26A3}>'.
 +[TURTLESIM-SRV:SETPEN-RESPONSE]
 +TUT> (perform-some-motion *fast-circle*)
 +[(TURTLE-PROCESS-MODULES) INFO] 1504786630.845: TurtleSim navigation invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE
 +                                                                           DRIVING)
 +                                                                          (SPEED
 +                                                                           10)
 +                                                                          (ANGLE
 +                                                                           7)) {1002BB2CD3}>'.
 +1
 +</code>
 +
 +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: TurtleSim pen control invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE
 +                                                                            SETTING-PEN)
 +                                                                           (OFF
 +                                                                            0)) {1002D6D763}>'.
 +[TURTLESIM-SRV:SETPEN-RESPONSE]
 +</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]]