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doc:logging:beliefstate [2014/02/18 13:03] – [Running the belief state CRAM interface] winkler | doc:logging:beliefstate [2015/04/22 07:10] (current) – [Running the belief state software] bbrieber |
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In order to install the belief state logging software, you need the following entries in your ''.rosinstall'' file: | In order to install the belief state logging software, you need the following entries in your ''.rosinstall'' file: |
<code> | <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: 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'} | - git: {local-name: iai_common_msgs, uri: 'https://github.com/code-iai/iai_common_msgs.git'} |
<code> | <code> |
- git: {local-name: iai_common_msgs, uri: 'https://github.com/code-iai/iai_common_msgs.git'} | - 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'} | - git: {local-name: cram_bridge, uri: 'https://github.com/cram-code/cram_bridge.git'} |
| </code> |
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| For compiling the package beliefstate with catkin you need the package libconfig++8-dev installed. |
| <code> |
| sudo apt-get install libconfig++8-dev |
</code> | </code> |
| |
When installed and compiled through ''catkin_make'', you should be able to run the belief state software using this command: | When installed and compiled through ''catkin_make'', you should be able to run the belief state software using this command: |
<code bash> | <code bash> |
$ rosrun beliefstate beliefstate | $ rosrun semrec semrec |
</code> | </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. | 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 ''${CMAKE_PREFIX_PATH}'', minus the ''devel'' directory (in that order). |
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So, pratically, you don't need to configure anything. If you want a configuration different from the default one, look into the file ''config.cfg'' inside of the ''beliefstate'' directory. Besides extensive documentation, it holds options for most details you might want to change. | So, pratically, you don't need to configure anything. If you want a configuration different from the default one, look into the file ''[[doc:logging:beliefstate:config_file|config.cfg]]'' inside of the ''semrec'' directory. Besides extensive documentation, it holds options for most details you might want to change. |
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Log files are by default saved into the directory structure in ''${HOME}/bs_experimental_data/'', followed by an indexed experiment directory. | Log files are by default saved into the directory structure in ''${HOME}/bs_experimental_data/'', followed by an indexed experiment directory. |
</code> | </code> |
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Messages like ''[ plugins ] Failed to load plugin 'libbs_plugin_experiment_knowledge.so' '' are due to the fact that in the config file, development plugins are by default deactivated. | 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. |
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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]]. | 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]]. |
</code> | </code> |
This effectively extracts the collected information into files preceeded with ''pick-and-place''. Choose the filename at will. | This effectively extracts the collected information into files preceeded with ''pick-and-place''. Choose the filename at will. |
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| ===== 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]] |