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--- tutorials:beginner:location_designators_2 [2019/07/09 18:50] – [Location designator generators] gkazhoya
+++ tutorials:beginner:location_designators_2 [2019/07/09 19:21] – [Using a location designator] gkazhoya
@@ Line 195: / Line 195: @@
 </code>
-Depending on the random number generator we will get some or none of the solutions rejected and, therefore, ''<='' number of valid solutions for our designator ''another-goal''. That means, you might get a different number of solutions than what we got, i.e. 3.
+Depending on the random number generator we will get some or none of the solutions rejected and, therefore, ''<='' number of valid solutions for our designator ''another-goal''. That means, you might get a different number of solutions than what we got: we got 3 but you might be 4 or 5 or something else.
@@ Line 233: / Line 233: @@
          (let ((target-point (reference motion)))
            (roslisp:ros-info (turtle-process-modules)
-                             "Goint to point ~a." target-point)
+                             "Going to point ~a." target-point)
            (move-to target-point)))))))
@@ Line 271: / Line 271: @@
                                (horizontal-position ?horizontal-position)
                                (vertical-position ?vertical-position)))
-               (goal (desig:a motion (type :going-to) (:goal ?area))))
+               (goal (desig:a motion (type going-to) (goal ?area))))
           (cram-executive:perform goal))))))
 </code>
-In ''goto-location'' we use ''perform'', which means we have to make sure the right process module for our ''going-to'' designator can be found. For that we add a rule to the fact-group ''available-turtle-process-modules'':
+In ''goto-location'' we use ''perform'', which means we have to make sure the right process module for our ''going-to'' designator can be found. For that we add a rule to the fact-group ''available-turtle-process-modules'' from the ''selecting-process-modules.lisp'' file. The file should now look like this:
 <code lisp>
@@ Line 312: / Line 312: @@
 [(ROSLISP TOP) INFO] 1501153969.641: master URI is 127.0.0.1:11311
 [(ROSLISP TOP) INFO] 1501153970.649: Node startup complete
-[(TURTLE-PROCESS-MODULES) INFO] 1501153970.689: TurtleSim navigation invoked with motion designator `#<MOTION-DESIGNATOR ((TYPE
+[(TURTLE-PROCESS-MODULES) INFO] 1562698457.619: TurtleSim navigation invoked with motion designator `#<A MOTION
-                                                                           GOING-TO)
+    (TYPE GOING-TO)
-                                                                          (GOAL
+    (GOAL #<A LOCATION
-                                                                           #<LOCATION-DESIGNATOR
+    (HORIZONTAL-POSITION RIGHT)
-                                                                             ((HORIZONTAL-POSITION
+    (VERTICAL-POSITION TOP)>)>'.
-                                                                               RIGHT)
+[(TURTLE-PROCESS-MODULES) INFO] 1501153970.691: Going to point #<3D-VECTOR (10.131428718566895d0 8.874866485595703d0 0.0d0)>.
-                                                                              (VERTICAL-POSITION
-                                                                               TOP))
-                                                                             {1005139363}>)) {1005139703}>'.
-[(TURTLE-PROCESS-MODULES) INFO] 1501153970.691: Goint to point #<3D-VECTOR (10.131428718566895d0 8.874866485595703d0 0.0d0)>.
 T
+</code>
+If you already had a running node in the REPL, you might get the error shown below but that is absolutely normal: ROS simply notifies you that it is going to shut down the previous node and start a new one.
+<code lisp>
+WARNING:
+   Before starting node, node-status equalled RUNNING instead of :shutdown.  Shutting the previous node invocation down now.
 </code>