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tutorials:beginner:failure_handling [2022/03/15 13:41] – [Recovering from the failure] schimpftutorials:beginner:failure_handling [2022/03/15 13:43] (current) – [Implementing failure handling for the TurtleSim] schimpf
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 **Next Tutorial:** [[tutorials:beginner:testing|Writing tests]] **Next Tutorial:** [[tutorials:beginner:testing|Writing tests]]
  
 +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>
 ===== Failure Handling in CRAM ===== ===== Failure Handling in CRAM =====