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tutorials:beginner:controlling_turtlesim_2 [2019/07/03 11:50] – [ROS dependencies] tlippstutorials:beginner:controlling_turtlesim_2 [2019/07/03 11:52] – [Experimenting in the REPL] tlipps
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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'', ''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:+Now open ''cram-my-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>
-(defsystem cram-beginner-tutorial+(defsystem cram-my-beginner-tutorial
   :depends-on (roslisp cram-language turtlesim-msg turtlesim-srv cl-transforms geometry_msgs-msg)   :depends-on (roslisp cram-language turtlesim-msg turtlesim-srv cl-transforms geometry_msgs-msg)
   :components   :components
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 We also want to add ''roslisp'' and ''cl-transforms'' to our namespace in the file ''package.lisp'' so that we don't have to specify the namespace each time we use a function from that package in our code. We also want to add ''roslisp'' and ''cl-transforms'' to our namespace in the file ''package.lisp'' so that we don't have to specify the namespace each time we use a function from that package in our code.
 <code lisp> <code lisp>
-(defpackage :cram-beginner-tutorial+(defpackage :cram-my-beginner-tutorial
   (:nicknames :tut)   (:nicknames :tut)
   (:use :cpl :roslisp :cl-transforms))   (:use :cpl :roslisp :cl-transforms))
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 ===== Experimenting in the REPL ===== ===== Experimenting in the REPL =====
  
-Now let's try it out. Open your Lisp REPL and make sure that you loaded the system ''cram-beginner-tutorial'' and switched to the package ''tut'', hint:+Now let's try it out. Open your Lisp REPL and make sure that you loaded the system ''cram-my-beginner-tutorial'' and switched to the package ''tut'', hint:
  
 <code lisp> <code lisp>
-CL-USER> (ros-load:load-system "cram_beginner_tutorial" :cram-beginner-tutorial)+CL-USER> (ros-load:load-system "cram_my_beginner_tutorial" :cram-my-beginner-tutorial)
 ... ...
 CL-USER> (in-package :tut) CL-USER> (in-package :tut)