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Both sides previous revisionPrevious revisionNext revision | Previous revisionNext revisionBoth sides next revision | ||
tutorials:beginner:controlling_turtlesim_2 [2017/07/18 11:01] – cpo | tutorials:beginner:controlling_turtlesim_2 [2017/09/07 12:52] – cpo | ||
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==== ASDF dependencies ==== | ==== ASDF dependencies ==== | ||
- | Now open '' | + | Now open '' |
<code lisp> | <code lisp> | ||
(defsystem cram-beginner-tutorial | (defsystem cram-beginner-tutorial | ||
- | :depends-on (roslisp cram-language turtlesim-msg cl-transforms geometry_msgs-msg) | + | :depends-on (roslisp cram-language turtlesim-msg |
:components | :components | ||
((:module " | ((:module " | ||
Line 87: | Line 87: | ||
: | : | ||
- | (defun set-pen (r g b width off) | + | (defun |
" | " | ||
(call-service *pen-srv* ' | (call-service *pen-srv* ' | ||
Line 134: | Line 134: | ||
<code lisp> | <code lisp> | ||
- | TUT> (init-ros-turtle "/turtle1" | + | TUT> (init-ros-turtle " |
</ | </ | ||
Line 240: | Line 240: | ||
We also can change how the turtle writes on the background. Try: | We also can change how the turtle writes on the background. Try: | ||
<code lisp> | <code lisp> | ||
- | TUT> (set-pen 255 0 0 10 0) | + | TUT> (call-set-pen 255 0 0 10 0) |
</ | </ | ||
- | We use the '' | + | We use the '' |