Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revisionNext revisionBoth sides next revision | ||
tutorials:beginner:process_modules [2016/01/22 16:52] – gkazhoya | tutorials:beginner:process_modules [2016/01/25 11:38] – gkazhoya | ||
---|---|---|---|
Line 30: | Line 30: | ||
===== Writing a process module for the turtlesim ===== | ===== Writing a process module for the turtlesim ===== | ||
+ | |||
+ | For this tutorial we will use the [[http:// | ||
Once again, some new dependencies must be declared in the tutorial files you've been working on. | Once again, some new dependencies must be declared in the tutorial files you've been working on. | ||
Line 68: | Line 70: | ||
" | " | ||
" | " | ||
+ | </ | ||
+ | |||
+ | Finally, let's also add '': | ||
+ | <code lisp> | ||
+ | (:use :cpl :roslisp : | ||
+ | : | ||
</ | </ | ||
Line 73: | Line 81: | ||
==== A process module for the turtlesim ==== | ==== A process module for the turtlesim ==== | ||
- | For this tutorial we will use the [[http:// | + | We first need to connect to the turtlesim action server |
- | + | ||
- | We first need to connect to the turtlesim action server | + | |
<code lisp> | <code lisp> | ||
Line 127: | Line 133: | ||
In the above code we define a simple function to convert an edge and radius pair of values into a goal for the action client, and a function that will call said action client, with some error handling built in (for example, if the function is called without an action client being defined, it will (re)initialize one and retry). | In the above code we define a simple function to convert an edge and radius pair of values into a goal for the action client, and a function that will call said action client, with some error handling built in (for example, if the function is called without an action client being defined, it will (re)initialize one and retry). | ||
- | Now that the lower level of controlling the turtlesim is taken care of, it's finally time to look at process modules and their interface to the higher levels. | + | Now that the lower level of controlling the turtlesim is taken care of, it's finally time to look at process modules and their interface to the higher levels. |
<code lisp> | <code lisp> | ||
(in-package :tut) | (in-package :tut) | ||
- | (cram-process-modules: | + | (def-process-module turtle-actuators (action-designator) |
(roslisp: | (roslisp: | ||
" | " | ||
action-designator) | action-designator) | ||
- | (destructuring-bind (cmd action-goal) (reference action-designator) | + | (destructuring-bind (command |
- | (ecase | + | (ecase |
- | (shape | + | (draw-shape |
- | | + | |
- | :edges (turtle-shape-edges action-goal) | + | :edges (turtle-shape-edges action-goal) |
- | :radius (turtle-shape-radius action-goal)))))) | + | :radius (turtle-shape-radius action-goal)))))) |
+ | |||
+ | (defmacro with-turtle-process-modules (&body body) | ||
+ | `(with-process-modules-running | ||
+ | | ||
+ | , | ||
</ | </ | ||
- | First, we use the '' | + | First, we use the '' |
- | destructuring-bind will map the results from (reference action-designator) to the variables cmd and action-goal respectively. Note that the inference rules we defined previously provide a name for the kind of action goal we have (currently, all are " | + | The '' |
- | The with-turtle-process-modules macro is a macro we define for convenience. It allows us to set up a context in which to run commands, knowing that the turtle process modules are all running concurrently. Right now we only have one defined, turtle-actuators. When we will have several, we will add them to the list we pass to cpm: | + | Let's try this out. Make sure you have '' |
- | + | ||
- | Let's try this out. Make sure you have roscore, turtlesim, and turtle_actionlib running. In a terminal tab for each, | + | |
< | < | ||
Line 158: | Line 167: | ||
</ | </ | ||
- | (**Note** on Oct. 21st 2014: you should check out then catkin_make the ROS common_tutorials from github to make sure you have the newest turtle_actionlib version available, otherwise the turtle might not move. To clone the ros_common tutorials, you will need to | + | For convenience, |
- | + | ||
- | < | + | |
- | git clone https:// | + | |
- | </ | + | |
- | + | ||
- | inside the src folder of a ROS workspace, then catkin_make it.) | + | |
- | + | ||
- | For convenience, | + | |
<code lisp> | <code lisp> | ||
- | (defun draw-hexagon (r) | + | (defun draw-hexagon (radius) |
(let ((turtle-name " | (let ((turtle-name " | ||
(start-ros-node turtle-name) | (start-ros-node turtle-name) | ||
Line 175: | Line 176: | ||
(top-level | (top-level | ||
(with-turtle-process-modules | (with-turtle-process-modules | ||
- | (cpm:process-module-alias :manipulation | + | (process-module-alias :navigation |
- | (cram-language-designator-support: | + | (with-designators |
- | ((trajectory | + | ((trajectory |
- | (cpm:pm-execute :manipulation | + | (pm-execute :navigation |
</ | </ | ||
- | What the function does is simply start a ROS node for our turtle and sets up the action client, then activates the turtle process modules (in our case, the sole existing one), creates a designator to describe how the turtle should move, and calls the cpm:pm-execute macro to have the process module follow the trajectory specified by the designator. | + | What the function does is simply start a ROS node for our turtle and sets up the action client, then activates the turtle process modules (in our case, the sole existing one), creates a designator to describe how the turtle should move, and calls the '' |
- | Two other things to observe here are the use of the top-level macro, which sets up a CRAM running context and is needed for with-turtle-process-modules. Also, we declare that :manipulation | + | Two other things to observe here are the use of the '' |
Reload the tutorial in REPL, and let's try to start the tutorial | Reload the tutorial in REPL, and let's try to start the tutorial | ||
<code lisp> | <code lisp> | ||
- | TUT> (draw-hexagon | + | TUT> (draw-hexagon |
- | [(ROSLISP TOP) INFO] 1413894471.489: Node name is /turtle1 | + | [(ROSLISP TOP) INFO] 1453721727.445: Node name is /turtle1 |
- | [(ROSLISP TOP) INFO] 1413894471.489: Namespace is / | + | [(ROSLISP TOP) INFO] 1453721727.446: Namespace is / |
- | [(ROSLISP TOP) INFO] 1413894471.489: Params are NIL | + | [(ROSLISP TOP) INFO] 1453721727.446: Params are NIL |
- | [(ROSLISP TOP) INFO] 1413894471.489: Remappings are: | + | [(ROSLISP TOP) INFO] 1453721727.446: Remappings are: |
- | [(ROSLISP TOP) INFO] 1413894471.489: master URI is 127.0.0.1: | + | [(ROSLISP TOP) INFO] 1453721727.446: master URI is 127.0.0.1: |
- | [(ROSLISP TOP) INFO] 1413894472.493: Node startup complete | + | [(ROSLISP TOP) INFO] 1453721728.452: Node startup complete |
- | [(TURTLE-PROCESS-MODULES) INFO] 1413894472.501: Turtle navigation invoked with action designator `#< | + | [(TURTLE-PROCESS-MODULES) INFO] 1453721728.467: Turtle navigation invoked with action designator `#< |
SHAPE) | SHAPE) | ||
| | ||
HEXAGON) | HEXAGON) | ||
| | ||
- | | + | |
An error occured! | An error occured! | ||
Client lost connection to server. | Client lost connection to server. | ||
Reinitializing... | Reinitializing... | ||
- | [(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1413894480.479: Waiting for turtle shape action server... | + | [(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1453721736.385: Waiting for turtle shape action server... |
- | [(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1413894482.480: Turtle shape action client created. | + | [(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1453721738.386: Turtle shape action client created. |
- | [(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1413894505.711: Nav action finished. | + | [(TURTLE-SHAPE-ACTION-CLIENT) INFO] 1453721761.206: Nav action finished. |
[TURTLE_ACTIONLIB-MSG: | [TURTLE_ACTIONLIB-MSG: | ||
| | ||
| | ||
| | ||
- | 2.598076105117798d0] | + | 1.7320507764816284d0] |
:SUCCEEDED | :SUCCEEDED | ||
</ | </ |