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tutorials:beginner:high_level_plans [2019/07/16 11:32] – Rename plan ''move'' to ''navigate''. cpotutorials:beginner:high_level_plans [2022/02/25 23:16] – [Writing plans for the TurtleSim] schimpf
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 **Next Tutorial:** [[tutorials:beginner:failure_handling|Implementing failure handling for the TurtleSim]] **Next Tutorial:** [[tutorials:beginner:failure_handling|Implementing failure handling for the TurtleSim]]
  
 +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")
 +</code>
 ===== Designators: Actions vs Motions ===== ===== Designators: Actions vs Motions =====
  
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   (exe:perform (a motion (type setting-pen) (off 0))))   (exe:perform (a motion (type setting-pen) (off 0))))
  
-(defun navigating (?v)+(defun navigate (?v)
   (exe:perform (a motion (type moving) (goal ?v))))   (exe:perform (a motion (type moving) (goal ?v))))
 </code> </code>