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tutorials:intermediate:fetch_deliver_plans [2019/07/16 09:30] – [Low-level projection functionality] tlippstutorials:intermediate:fetch_deliver_plans [2019/07/16 11:04] – [Atomic actions] tlipps
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 ==== Projection process modules ==== ==== Projection process modules ====
  
-The PMs are implemented in ''cram_pr2_projection/src/process-modules.lisp''+The PMs are implemented in ''cram_urdf_projection/src/process-modules.lisp''
  
 To directly call a PM, use PM-EXECUTE function: To directly call a PM, use PM-EXECUTE function:
  
 <code lisp> <code lisp>
-CL-USER> (pr2-proj:with-projected-robot+(urdf-proj:with-projected-robot 
 +           (let ((?pose (cl-transforms-stamped:make-pose-stamped 
 +                         "map" 0.0 
 +                         (cl-transforms:make-3d-vector 0.75 0 0) 
 +                         (cl-transforms:make-identity-rotation))))
              (cram-process-modules:pm-execute              (cram-process-modules:pm-execute
-              'pr2-proj::pr2-proj-navigation +              'urdf-proj::urdf-proj-navigation 
-              (let ((?pose (cl-transforms-stamped:make-pose-stamped +              (desig:an motion 
-                            "map" 0.0 +                        (type going) 
-                            (cl-transforms:make-3d-vector 0.75 0 0) +                        (pose ?pose)))))
-                            (cl-transforms:make-identity-rotation)))) +
-                (desig:a motion +
-                         (type going) +
-                         (target (desig:a location +
-                                          (pose ?pose)))))))+
 </code> </code>
                                                                                      
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 To automatically dispatch motion designators to their correct PMs, there are the ''matching-process-module'' Prolog predicates (implementation is in the same ''process-modules.lisp'' file). To automatically dispatch motion designators to their correct PMs, there are the ''matching-process-module'' Prolog predicates (implementation is in the same ''process-modules.lisp'' file).
  
-To execute a motion with automatic PM dispatching, use ''exe:perform'':+To execute a motion with automatic PM dispatching, use ''exe:perform'' or ''cram-executive:perform'':
  
 <code lisp> <code lisp>
-CL-USER> (pr2-proj:with-projected-robot +CL-USER> (urdf-proj:with-projected-robot 
-             (cram-executive:perform +           (let ((?pose (cl-transforms-stamped:make-pose-stamped 
-              (let ((?pose (cl-transforms-stamped:make-pose-stamped +                         "map" 0.0 
-                            "map" 0.0 +                         (cl-transforms:make-3d-vector 0.75 0 0) 
-                            (cl-transforms:make-3d-vector 0 0 0) +                         (cl-transforms:make-identity-rotation)))) 
-                            (cl-transforms:make-identity-rotation)))) +             (cram-executive:perform (desig:an motion 
-                (desig:a motion +                                               (type going) 
-                         (type going) +                                               (pose ?pose)))))
-                         (target (desig:a location +
-                                          (pose ?pose)))))))+
 </code> </code>
                                                                                      
-''pr2-proj:with-projected-robot'' is implemented in ''cram_pr2_projection/src/projection-environment.lisp''+''urdf-proj:with-projected-robot'' is implemented in ''cram_urdf_projection/src/projection-environment.lisp''
  
 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, in order not to mess up the real robot's TF while it is imagining things in projection. 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, in order not to mess up the real robot's TF while it is imagining things in projection.
Line 125: Line 122:
  
 <code lisp> <code lisp>
-CL-USER> (pr2-proj:with-projected-robot +CL-USER> (urdf-proj:with-projected-robot 
-             (cram-executive:perform +            (let ((?pose (cl-transforms-stamped:make-pose-stamped 
-              (let ((?pose (cl-transforms-stamped:make-pose-stamped +                          "map" 0.0 
-                            "map" 0.0 +                          (cl-transforms:make-3d-vector 0 0 0) 
-                            (cl-transforms:make-3d-vector 0 0 0) +                          (cl-transforms:make-identity-rotation)))) 
-                            (cl-transforms:make-identity-rotation)))) +              (cram-executive:perform 
-                (desig:an action +               (desig:an action 
-                          (type going) +                         (type going) 
-                          (target (desig:a location +                         (target (desig:a location 
-                                           (pose ?pose)))))))+                                          (pose ?pose)))))))
 </code> </code>
                                                                                        
Line 140: Line 137:
  
 <code lisp> <code lisp>
-CL-USER> (pr2-proj:with-projected-robot +CL-USER> (urdf-proj:with-projected-robot 
-             (cram-executive:perform +           (let ((?pose (cl-transforms-stamped:make-pose-stamped 
-              (let ((?pose (cl-transforms-stamped:make-pose-stamped +                         "base_footprint" 0.0 
-                            "base_footprint" 0.0 +                         (cl-transforms:make-3d-vector 0.7 0.5 0.8) 
-                            (cl-transforms:make-3d-vector 0.7 0.5 0.8) +                         (cl-transforms:make-identity-rotation)))) 
-                            (cl-transforms:make-identity-rotation)))) +             (cram-executive:perform  
-                (desig:an action +              (desig:an action 
-                          (type lifting) +                        (type lifting) 
-                          (left-poses (?pose))))))+                        (left-poses (?pose))))))
                                                      
-CL-USER> (pr2-proj:with-projected-robot +CL-USER> (urdf-proj:with-projected-robot 
-             (cram-executive:perform +           (let ((?pose (cl-transforms-stamped:make-pose-stamped 
-              (let ((?pose (cl-transforms-stamped:make-pose-stamped +                         "base_footprint" 0.0 
-                            "base_footprint" 0.0 +                         (cl-transforms:make-3d-vector 0.7 0.5 0.8) 
-                            (cl-transforms:make-3d-vector 0.7 0.5 0.8) +                         (cl-transforms:make-identity-rotation)))) 
-                            (cl-transforms:make-identity-rotation)))) +             (cram-executive:perform  
-                (desig:an action +              (desig:an action 
-                          (type reaching) +                        (type reaching) 
-                          (left-poses (?pose))))))+                        (left-poses (?pose))))))
 </code> </code>