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tutorials:beginner:motion_designators [2019/07/09 19:06] – gkazhoyatutorials:beginner:motion_designators [2019/07/29 10:35] – Added turtlesim-srv to the dependencies amar
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 **Description:** In this tutorial you will learn what designators are, and in particular, work with motion designators: you will learn how to define one and how to use it. **Description:** In this tutorial you will learn what designators are, and in particular, work with motion designators: you will learn how to define one and how to use it.
  
-**Previous Tutorial:** [[tutorials:beginner:simple_plans|Implementing simple plans to move a turtle]]\\+**Previous Tutorial:** [[tutorials:beginner:cram_prolog|Using Prolog for reasoning]]\\
 **Next Tutorial:** [[tutorials:beginner:process_modules_2|Creating process modules]] **Next Tutorial:** [[tutorials:beginner:process_modules_2|Creating process modules]]
  
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 <code lisp> <code lisp>
 (defsystem cram-my-beginner-tutorial (defsystem cram-my-beginner-tutorial
-  :depends-on (cram-language roslisp turtlesim-msg geometry_msgs-msg cl-transforms+  :depends-on (cram-language roslisp turtlesim-msg turtlesim-srv 
 +                             geometry_msgs-msg cl-transforms
                              cram-designators cram-prolog)                              cram-designators cram-prolog)
   :components   :components
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 </code> </code>
  
-Now, reload the tutorial in ''roslisp_repl'' (which also loads the newly added dependencies).+Now, reload the tutorial in ''roslisp_repl'' (which also loads the newly added dependencies): 
 + 
 +<code lisp> 
 +PROLOG> (ros-load:load-system "cram_my_beginner_tutorial" :cram-my-beginner-tutorial) 
 +PROLOG> (in-package :tut) 
 +</code>
  
 ==== Creating a motion designator ==== ==== Creating a motion designator ====