Differences

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--- tutorials:intermediate:fetch_deliver_plans [2019/07/16 11:50] – [Composite actions: picking and placing] removed not working pick-ups tlipps
+++ tutorials:intermediate:fetch_deliver_plans [2022/07/04 12:31] (current) – [search-for-object] khoshnam
@@ Line 79: / Line 79: @@
 <code lisp>
-(urdf-proj:with-projected-robot
+CL-USER> (urdf-proj:with-projected-robot
            (let ((?pose (cl-transforms-stamped:make-pose-stamped
                          "map" 0.0
@@ Line 242: / Line 242: @@
 We do this by loading the packages ''cram_pr2_pick_and_place'' and ''cram_bullet_world_tutorial'' ...
 <code lisp>
-(ros-load:load-system "cram_pr2_pick_and_place" :cram_pr2_pick_and_place)
+(ros-load:load-system "cram_pr2_pick_place_demo" :cram-pr2-pick-place-demo)
-(ros-load:load-system "cram_bullet_world_tutorial" :cram_bullet_world_tutorial)
+(ros-load:load-system "cram_bullet_world_tutorial" :cram-bullet-world-tutorial)
 </code>
 ... and call the following functions:
-<code>
+<code lisp>
 (in-package :cram-bullet-world-tutorial)
 (roslisp-utilities:startup-ros)
@@ Line 298: / Line 298: @@
 ;; location desigs can turn NILL in the course of execution
 ;; but should not be passed as NILL to start with.
-(type (or desig:location-designator null) ?search-location ?robot-location))
+(type (or desig:location-designator null) ?search-location ?robot-location)))
 "Searches for `?object-designator' in its likely location `?search-location'.
 If the object is not there or navigation location is unreachable,