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tutorials:intermediate:fetch_deliver_plans [2019/07/16 09:30] – [Low-level projection functionality] tlipps | tutorials:intermediate:fetch_deliver_plans [2019/07/16 11:00] – [Projection process modules] tlipps | ||
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==== Projection process modules ==== | ==== Projection process modules ==== | ||
- | The PMs are implemented in '' | + | The PMs are implemented in '' |
To directly call a PM, use PM-EXECUTE function: | To directly call a PM, use PM-EXECUTE function: | ||
<code lisp> | <code lisp> | ||
- | CL-USER> | + | (urdf-proj: |
+ | (let ((?pose (cl-transforms-stamped: | ||
+ | " | ||
+ | | ||
+ | | ||
| | ||
- | 'pr2-proj::pr2-proj-navigation | + | 'urdf-proj::urdf-proj-navigation |
- | | + | (desig:an motion |
- | " | + | (type going) |
- | (cl-transforms: | + | (pose ?pose))))) |
- | (cl-transforms: | + | |
- | | + | |
- | | + | |
- | (target (desig:a location | + | |
- | | + | |
</ | </ | ||
| | ||
Line 96: | Line 95: | ||
To automatically dispatch motion designators to their correct PMs, there are the '' | To automatically dispatch motion designators to their correct PMs, there are the '' | ||
- | To execute a motion with automatic PM dispatching, | + | To execute a motion with automatic PM dispatching, |
<code lisp> | <code lisp> | ||
- | CL-USER> (pr2-proj: | + | CL-USER> (urdf-proj: |
- | (cram-executive: | + | |
- | | + | |
- | " | + | |
- | (cl-transforms: | + | |
- | (cl-transforms: | + | (cram-executive: |
- | (desig:a motion | + | |
- | | + | |
- | (target (desig:a location | + | |
- | | + | |
</ | </ | ||
| | ||
- | '' | + | '' |
It activates all the PMs defined in PR2's projection and sets up some environment variables to distinguish between real robot and projected robot, for example the TF publishers and subscribers, | It activates all the PMs defined in PR2's projection and sets up some environment variables to distinguish between real robot and projected robot, for example the TF publishers and subscribers, |