CRAM Tutorials

You can find the source code to most of the CRAM tutorials on GitHub.

(tested with v0.7.0)

• Creating a CRAM package
• Controlling turtlesim from CRAM
• Implementing simple plans to move a turtle
• Creating motion designators for the TurtleSim
• Creating process modules
• Automatically choosing a process module for a motion
• Using location designators with the TurtleSim
• Writing plans for the TurtleSim
• Implementing failure handling for the TurtleSim
• Using Prolog for reasoning

• Location costmaps
• Semantic environment maps in CRAM
• Performing Plans (v0.7.0)
• Triggering and handling (custom) events (v0.7.0)
• Bullet world demonstration: using specialized inference mechanisms and projection (v0.7.0)
• Using JSON Prolog to communicate with KnowRob (v0.7.0)
• How fetch and deliver plans are implemented (v0.6.0)
• Implementing new types of actions (in construction) (v0.6.0)

• Introducing a new robot to CRAM
• Using MoveIt! from CRAM
• Collisions and Constraints in MoveIt!
• Writing plans with policies
• Plan transformations: task trees, code replacement, and serialization

• Roslisp Tutorials
• Tf Tutorials
• Visualization Tutorials
• Catkin Tutorials