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tutorials:beginner:controlling_turtlesim_2 [2017/09/07 11:40] – [ASDF dependencies] cpotutorials:beginner:controlling_turtlesim_2 [2017/09/07 12:52] – cpo
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 ==== ASDF dependencies ==== ==== ASDF dependencies ====
  
-Now open ''cram-beginner-tutorial.asd'' and update the system dependencies to include the system  ''roslisp'', ''turtlesim-msg'', ''geometry_msgs-msg'' and ''cl-transforms''. The systems that correspond to the messages of a package are always named like the package name with a ''-msg'' suffix. Your system should now look like this:+Now open ''cram-beginner-tutorial.asd'' and update the system dependencies to include the system  ''roslisp'', ''turtlesim-msg'', ''turtlesim-srv'', ''geometry_msgs-msg'' and ''cl-transforms''. The systems that correspond to the messages of a package are always named like the package name with a ''-msg'' suffix. Your system should now look like this:
  
 <code lisp> <code lisp>
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                          :angular (make-msg "geometry_msgs/Vector3" :z ang))))                          :angular (make-msg "geometry_msgs/Vector3" :z ang))))
                                                    
-(defun set-pen (r g b width off)+(defun call-set-pen (r g b width off)
   "Function to call the SetPen service."   "Function to call the SetPen service."
   (call-service *pen-srv* 'turtlesim-srv:SetPen   (call-service *pen-srv* 'turtlesim-srv:SetPen
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 <code lisp> <code lisp>
-TUT> (init-ros-turtle "/turtle1")+TUT> (init-ros-turtle "turtle1")
 </code> </code>
  
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 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)
 </code> </code>
  
-We use the ''set-pen'' function, also defined in ''control-turtlesim.lisp''. The line the turtle leaves on the ground should be red. Try moving the turtle, either with the teleop or the ''send-vel-cmd'' function.+We use the ''call-set-pen'' function, also defined in ''control-turtlesim.lisp''. The line the turtle leaves on the ground should be red. Try moving the turtle, either with the teleop or the ''send-vel-cmd'' function.