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tutorials:beginner:high_level_plans [2017/09/19 14:05] – ACTION-DESIG -> ACTION-GROUNDING cpotutorials:beginner:high_level_plans [2019/07/09 20:07] – [Defining the action designators] gkazhoya
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 **Description:** In this tutorial you will learn what action designators are and write high-level plans: you will learn how to define action designators and how to use them. **Description:** In this tutorial you will learn what action designators are and write high-level plans: you will learn how to define action designators and how to use them.
  
-**Previous Tutorial:** [[tutorials:beginner:location_designators|Using location designators with the turtlesim]]\\+**Previous Tutorial:** [[tutorials:beginner:location_designators_2|Using location designators with the TurtleSim]]\\
 **Next Tutorial:** [[tutorials:beginner:failure_handling|Implementing failure handling for the TurtleSim]] **Next Tutorial:** [[tutorials:beginner:failure_handling|Implementing failure handling for the TurtleSim]]
  
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 ==== Defining the action designators ==== ==== Defining the action designators ====
  
-Let's create new source files for the code in this tutorial (under the ''src'' directory), call them ''action-designators.lisp'' and ''high-level-plans.lisp''. We will need to add the files to the '':components'' of the ''src'' module in your ''cram-beginner-tutorial.asd'', which should now look something like this:+Let's create new source files for the code in this tutorial (under the ''src'' directory), call them ''action-designators.lisp'' and ''high-level-plans.lisp''. We will need to add the files to the '':components'' of the ''src'' module in your ''cram-my-beginner-tutorial.asd'', which should now look something 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 cram-designators cram-prolog   :depends-on (roslisp cram-language turtlesim-msg turtlesim-srv cl-transforms geometry_msgs-msg cram-designators cram-prolog
                        cram-process-modules cram-language-designator-support cram-executive)                        cram-process-modules cram-language-designator-support cram-executive)
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 TUT> (desig:an action (type drawing) (shape rectangle) (width 5) (height 4)) TUT> (desig:an action (type drawing) (shape rectangle) (width 5) (height 4))
  
-#<ACTION-DESIGNATOR ((:TYPE :DRAWING) (:SHAPE :RECTANGLE) (:WIDTH 5) +#<A ACTION 
-                     (:HEIGHT 4)) {100B819903}>+    (TYPE DRAWING) 
 +    (SHAPE RECTANGLE) 
 +    (WIDTH 5) 
 +    (HEIGHT 4)>
 </code> </code>