group-highlevel

Repository for the high-level plan group homework

To install the correct packages for using Emacs and Lisp (SLIME, Swank), see the seminar slides from 2013/05/23 (StudIP).

Basic usage for roslisp: http://www.ros.org/wiki/roslisp/Tutorials/BasicUsage

For tasks, see the source files.

After checking out the source code and installing the mentioned packages, restart your terminal and run the repl:

$ rosrun roslisp_repl repl

• Press ,
• Enter ros-load-system and press return
• Enter group_highlevel and press return
• Enter seminar-high-level-homework and press return
• Press ,
• Enter !p and press return
• Enter SEMINAR-HIGH-LEVEL-HOMEWORK and press return

You are now in the package for the homework, with all components loaded. On a new terminal, enter

$ roscore

This starts the ROS master node. On another terminal, start

$ rosrun turtlesim turtlesim_node

This starts the turtle simulation node and visualization.

On the repl, enter

> (roslisp:start-ros-node "seminar_highlevel")

This connects the repl to the ROS master and allows you to communicate with the turtle.

Happy hacking.