Note: This tutorial assumes that you have completed the previous tutorials: An introduction to Agent Actions.

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

Contents

  1. Create a HandyBot package
  2. Create an action to move HandyBot around the room
  3. Implement a simple simulator
  4. Create a test executive configuration
  5. Execute the test
  6. Tweak the simulation
  7. Try multiple goals

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)

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