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tutorials:beginner:motion_designators [2019/07/10 15:15] – gkazhoyatutorials:beginner:motion_designators [2022/02/25 23:14] (current) – [Creating motion designators for the TurtleSim] schimpf
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 **Previous Tutorial:** [[tutorials:beginner:cram_prolog|Using Prolog for reasoning]]\\ **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]]
 +
 +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>
 +<code bash>
 +$ rosrun turtlesim turtlesim_node
 +</code>
  
 ===== Designators: an overview ===== ===== Designators: an overview =====
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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