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tutorials:beginner:assigning_actions_2 [2019/07/09 19:09] gkazhoyatutorials:beginner:assigning_actions_2 [2022/02/25 23:19] (current) – [Automatically choosing a process module for a motion] schimpf
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 **Previous Tutorial:** [[tutorials:beginner:process_modules_2|Creating process modules]]\\ **Previous Tutorial:** [[tutorials:beginner:process_modules_2|Creating process modules]]\\
 **Next Tutorial:** [[tutorials:beginner:location_designators_2|Using location designators with the TurtleSim]]\\ **Next Tutorial:** [[tutorials:beginner:location_designators_2|Using location designators with the TurtleSim]]\\
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 +
 +To run the code in the tutuorial the roscore and the turtlesim need to be started over the terminal. Each in their own tab.
 +<code bash>
 +$ roscore
 +</code>
 +<code bash>
 +$ rosrun turtlesim turtlesim_node
 +</code>
 +
 +And in the REPL the following commands should be executed:
 +<code lisp>
 +CL-USER>(ros-load:load-system "cram_my_beginner_tutorial" :cram-my-beginner-tutorial)
 +...
 +CL-USER>(in-package :tut)
 +...
 +TUT>(start-ros-node "turtle1")
 +...
 +TUT>(init-ros-turtle "turtle1")
 +</code>
  
 ===== Setting up fact groups to select a process module ===== ===== Setting up fact groups to select a process module =====
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 (defsystem cram-my-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)