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How to - simple process module in CRAM

asked 2012-11-25 04:19:11 -0600

dgerod gravatar image

I am learning about CRAM designators and process modules. At this moment I am trying to create a stupid process module to check if I understand how the system works.

I am following (this tutorial) but I have not succeeded.

When I execute the following code:

CPL> (def-process-module navigation (input-designator)
          (let ((goal-pose (reference input-designator)))
            (or (execute-navigation-action goal-pose)
                (fail 'navigation-failed))))

An error is raised in SLIME:

The variable NAVIGATION is unbound.
    [Condition of type UNBOUND-VARIABLE]

I don't understand why this is happening. "Navigation" is the name of the process module I am trying to define, am I right? Therefore, I can understand an error raised because "execute-navigation-action" is not defined but not in "navigation". What I am missing?

Thanks in advance.

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1 Answer

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answered 2012-11-25 06:02:01 -0600

Lorenz gravatar image

You are in the wrong package. First load the package cram_process_modules:

(ros-load:load-system "cram_process_modules" :process-modules)

Then switch to the right package:

(in-package :cpm)
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Perfect!!! Thanks a lot.

dgerod gravatar image dgerod  ( 2012-11-25 06:36:00 -0600 )edit

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Asked: 2012-11-25 04:19:11 -0600

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Last updated: Nov 25 '12