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--- doc:logging:beliefstate [2014/02/18 12:47] – created winkler
+++ doc:logging:beliefstate [2015/04/22 07:10] (current) – [Running the belief state software] bbrieber
@@ Line 48: / Line 48: @@
 In order to install the belief state logging software, you need the following entries in your ''.rosinstall'' file:
 <code>
- - git: {local-name: beliefstate, uri: 'https://github.com/fairlight1337/beliefstate.git'}
+ - git: {local-name: semrec, uri: 'https://github.com/code-iai/semrec.git'}
  - git: {local-name: designator_integration, uri: 'https://github.com/code-iai/designator_integration.git'}
  - git: {local-name: iai_common_msgs, uri: 'https://github.com/code-iai/iai_common_msgs.git'}
@@ Line 56: / Line 56: @@
 <code>
  - git: {local-name: iai_common_msgs, uri: 'https://github.com/code-iai/iai_common_msgs.git'}
+ - git: {local-name: designator_integration_lisp, uri: 'https://github.com/code-iai/designator_integration.git'}
  - git: {local-name: cram_bridge, uri: 'https://github.com/cram-code/cram_bridge.git'}
+</code>
+For compiling the package beliefstate with catkin you need the package libconfig++8-dev installed.
+<code>
+ sudo apt-get install libconfig++8-dev
 </code>
 ===== Running the belief state software =====
-TODO
+When installed and compiled through ''catkin_make'', you should be able to run the belief state software using this command:
+<code bash>
+$ rosrun semrec semrec
+</code>
+The software automatically looks for plugins in your ''${catkin_workspace}/devel/lib'' directory. The ''${catkin_workspace}'' directory is resolved by either trying the environmental variable ''${ROS_WORKSPACE}'' or parsing the first path in ''${ROS_PACKAGE_PATH}'', minus the ''src'' directory, or ''${CMAKE_PREFIX_PATH}'', minus the ''devel'' directory (in that order).
+So, pratically, you don't need to configure anything. If you want a configuration different from the default one, look into the file ''[[doc:logging:beliefstate:config_file|config.cfg]]'' inside of the ''semrec'' directory. Besides extensive documentation, it holds options for most details you might want to change.
+Log files are by default saved into the directory structure in ''${HOME}/bs_experimental_data/'', followed by an indexed experiment directory.
+Typical startup messages look like this:
+<code>
+[ core ] Starting beliefstate system.
+[ plugin-instance ] Loaded plugin 'symboliclog' (version: 0.9)
+[ plugin-instance ] Initialized plugin 'symboliclog'
+[ plugin-instance ] Loaded plugin 'ros' (version: 0.9)
+[ros/1] Starting ROS node 'beliefstate_ros'.
+[ros/1] ROS node started. Starting to spin (4 threads).
+[ plugin-instance ] Initialized plugin 'ros'
+[ plugin-instance ] Loaded plugin 'owlexporter' (version: 0.73b)
+[ plugin-instance ] Initialized plugin 'owlexporter'
+[ plugin-instance ] Loaded plugin 'dotexporter' (version: 0.2)
+[ plugin-instance ] Initialized plugin 'dotexporter'
+[ plugin-instance ] Loaded plugin 'imagecapturer' (version: 0.2)
+[ plugin-instance ] Initialized plugin 'imagecapturer'
+[ plugin-instance ] Loaded plugin 'supervisor' (version: 0.6)
+[ plugin-instance ] Initialized plugin 'supervisor'
+[ plugin-instance ] Loaded plugin 'knowrob' (version: 0.25b)
+[ plugins ] Not loading development plugin: 'libbs_plugin_knowrob.so'
+[ plugin-instance ] Unloaded plugin 'knowrob'
+[ plugins ] Failed to load plugin 'libbs_plugin_knowrob.so'
+[ plugin-instance ] Loaded plugin 'interactive' (version: 0.4)
+[ plugin-instance ] Initialized plugin 'interactive'
+[ plugin-instance ] Loaded plugin 'experiment_knowledge' (version: 0.1a)
+[ plugins ] Not loading development plugin: 'libbs_plugin_experiment_knowledge.so'
+[ plugin-instance ] Unloaded plugin 'experiment_knowledge'
+[ plugins ] Failed to load plugin 'libbs_plugin_experiment_knowledge.so'
+[ plugin-instance ] Loaded plugin 'experiment_context' (version: 0.3)
+[ plugin-instance ] Initialized plugin 'experiment_context'
+[supervisor/5] Created new experiment space: 'exp-454'.
+[supervisor/5] Symlink set accordingly.
+</code>
+Messages like ''[ plugins ] Failed to load plugin 'libbs_plugin_experiment_knowledge.so' '' are due to the fact that in the config file, [[doc:logging:beliefstate:development_plugins|development plugins]] are by default deactivated.
+After startup, the ''ros'' plugin offers ROS services for information injection through the node ''/beliefstate_ros''. More details on the communication protocol can be found [[doc:logging:communication|here]].
 ===== Running the belief state CRAM interface =====
-TODO
+In order to get log support in your CRAM applications, simply load the package ''cram_beliefstate'' (contained in the stack ''cram_bridge''), using the ASDF system ''cram-beliefstate''. Once it is loaded, it automatically makes use of all CRAM-defined hooks concerning high-level plan execution.
+To set metadata about the plan you are executing (to correctly identify your experiment), use this ''cram-beliefstate''-supplied command:
+<code lisp>
+> (beliefstate:set-metadata
+    :robot "My robot's name"
+    :creator "The experimenter"
+    :experiment "Pick and Place"
+    :description "It went well, this was a great experiment! The robot cleaned up the whole place.")
+</code>
+The data is then sent to the belief state software and will be extracted as ''metadata.xml'' file when extracting files.
+If you want to extract the current state of the experiment (after collecting experiment data from plan execution), do this:
+<code lisp>
+> (beliefstate:extract-files "pick-and-place")
+</code>
+This effectively extracts the collected information into files preceeded with ''pick-and-place''. Choose the filename at will.
+===== Capabilities =====
+The belief state logging software itself has no abilities itself except for message transportation and plugin loading. The capabilities available for logging are introduced by plugins, described in more detail [[doc:logging:plugins|here]].
+===== Tutorials =====
+In order to interface with the logging infrastructure, a set of tutorials is available:
+  * [[doc:logging:tutorials-cpp|C++ Beliefstate Client Library]]