Note: This tutorial assumes that you have completed the previous tutorials: An introduction to Agent Actions.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Create your first action

Description: In this tutorial you will create an action and build a simple NDDL simulator for testing. This makes it easy to see how things work in the executive without getting into more complicated integration.

Tutorial Level: INTERMEDIATE

Create a HandyBot package

You will be building up an example throughout these tutorials for the HandyBot. To get started, create a package using trexcreate:

trexcreate handybot
roscd handybot
rosmake

If all is well, running:

trexfind demo.cfg

will produce something like:

/u/mcgann/ros/ros-pkg/trex_tutorials/handybot/cfg/demo.cfg

Create an action to move HandyBot around the room

Implement a simple simulator

Create a test executive configuration

Execute the test

Tweak the simulation

Try multiple goals

Wiki: trex/Tutorials/Create and test your first action (last edited 2009-11-05 00:45:49 by ConorMcGann)