{Next tutorial}[link:files/doc/tutorials/02-GoForward_rdoc.html]
= Getting started

== Initializing an empty Roby application
Go into a shell into the directory you want your application in and run
  $ roby init
  creating tasks/
  creating tasks/.gitattributes
  creating scripts/
  creating scripts/test
  creating scripts/shell
  creating scripts/server
  creating scripts/run
  creating scripts/results
  creating scripts/replay
  creating scripts/generate/
  creating scripts/generate/bookmarks
  creating scripts/distributed
  creating planners/
  creating planners/main.rb
  creating data/
  creating data/.gitattributes
  creating controllers/
  creating controllers/.gitattributes
  creating config/
  creating config/roby.yml
  creating config/init.rb
  creating config/app.yml
  creating Rakefile
  creating README.txt


You can see that the following directories are created:
tasks:: definition of task models
planners:: definition of planner models
controllers:: definition of the robot controllers
data:: data files
config:: robots configurations
test:: the test suites
log:: the log files (output of the last run)
results:: sets of logs that have been saved by scripts/results
scripts:: the standard Roby tools. Call them with --help to know what they are doing

The .gitattributes in empty directories is a trick allowing to commit an
empty Roby application with +git+ using
  git init
  git add .
  git commit

Without it, +git+ would ignore those directories.

== Overview of Roby applications structure

In a single Roby application, someone can define multiple specific
_controllers_, tailored for specific robots. A specific Roby controller is
defined by a /robot name/ and a /robot type/. These two parameters define what
models and what configuration files the system will load on startup. Both
models and configuration files can be sorted into:
* a set common to all robots and robot types
* a set specific to all robots of the same type
* a set specific to a single robot

See Roby::Application for more details on the configuration/models loading logic.

== Creating a simple robot

During the tutorials, we will be creating different robots which is done by the
<tt>roby robot</tt> command. For instance, run
  $ roby robot EmptyRobot
  creating planners/EmptyRobot/
  creating planners/EmptyRobot/main.rb
  creating tasks/EmptyRobot/
  creating tasks/EmptyRobot/.gitattributes
  creating controllers/EmptyRobot.rb
  creating config/EmptyRobot.rb

This creates the basic templates for the robot named EmptyRobot. The following
tutorials will explain their role to you.

= Next tutorial

{The next tutorial}[link:files/doc/tutorials/02-GoForward_rdoc.html] will show you
the basic plan model used by Roby and some central tool, which allow to execute the
Roby applications and to interact/control them remotely.
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