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Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
tutorials:beginner:motion_designators [2019/07/09 19:06] – gkazhoya | tutorials:beginner:motion_designators [2022/02/25 23:14] (current) – [Creating motion designators for the TurtleSim] schimpf | ||
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**Description: | **Description: | ||
- | **Previous Tutorial:** [[tutorials: | + | **Previous Tutorial:** [[tutorials: |
**Next Tutorial:** [[tutorials: | **Next Tutorial:** [[tutorials: | ||
+ | |||
+ | To run the code in the tutuorial the roscore and the turtlesim need to be started in the terminal. Each in their own tab. | ||
+ | <code bash> | ||
+ | $ roscore | ||
+ | </ | ||
+ | <code bash> | ||
+ | $ rosrun turtlesim turtlesim_node | ||
+ | </ | ||
===== Designators: | ===== Designators: | ||
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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 |
+ | geometry_msgs-msg cl-transforms | ||
| | ||
:components | :components | ||
Line 70: | Line 79: | ||
</ | </ | ||
- | Now, reload the tutorial in '' | + | Now, reload the tutorial in '' |
+ | |||
+ | <code lisp> | ||
+ | PROLOG> (ros-load: | ||
+ | PROLOG> (in-package :tut) | ||
+ | </ | ||
==== Creating a motion designator ==== | ==== Creating a motion designator ==== |