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--- 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
@@ Line 3: / Line 3: @@
 **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]]
+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 =====
@@ Line 50: / Line 58: @@
 <code lisp>
 (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)
   :components
@@ Line 70: / Line 79: @@
 </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 ====