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tutorials:beginner:controlling_turtlesim_2 [2017/09/07 13:42]
cpo Remove slash from turtlename
tutorials:beginner:controlling_turtlesim_2 [2017/09/07 14:52] (current)
cpo
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                          :​angular (make-msg "​geometry_msgs/​Vector3"​ :z ang))))                          :​angular (make-msg "​geometry_msgs/​Vector3"​ :z ang))))
                                                    
-(defun set-pen (r g b width off)+(defun ​call-set-pen (r g b width off)
   "​Function to call the SetPen service."​   "​Function to call the SetPen service."​
   (call-service *pen-srv* '​turtlesim-srv:​SetPen   (call-service *pen-srv* '​turtlesim-srv:​SetPen
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 We also can change how the turtle writes on the background. Try: We also can change how the turtle writes on the background. Try:
 <code lisp> <code lisp>
-TUT> (set-pen 255 0 0 10 0)+TUT> (call-set-pen 255 0 0 10 0)
 </​code>​ </​code>​
  
-We use the ''​set-pen''​ function, also defined in ''​control-turtlesim.lisp''​. The line the turtle leaves on the ground should be red. Try moving the turtle, either with the teleop or the ''​send-vel-cmd''​ function.+We use the ''​call-set-pen''​ function, also defined in ''​control-turtlesim.lisp''​. The line the turtle leaves on the ground should be red. Try moving the turtle, either with the teleop or the ''​send-vel-cmd''​ function.