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| doc:loading_files_and_ros_packages [2013/04/22 08:33] – created admin | doc:loading_files_and_ros_packages [2014/01/17 09:30] (current) – removed gkazhoya |
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| ====== Loading files and ROS packages ====== | |
| ~~NOTOC~~ | |
| There are different ways how OWL and Prolog files can be loaded. For testing purposes, one can load single files. For deployment, one usually wants to set up a ROS package in such a way that all related files are automatically loaded. Both alternatives will be explained below. | |
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| ===== Loading OWL files ===== | |
| OWL files need to be parsed to be [[http://www.swi-prolog.org/pldoc/package/semweb.html|internally represented as Prolog triples]]. Parsing is done using the [[http://www.semanticweb.gr/thea/index.html|Thea library (version 0.5)]]. The following command can be used to load an OWL file: | |
| |
| <code> | |
| owl_parse('path/to/file.owl', false, false, true). | |
| </code> | |
| |
| ===== Loading Prolog modules ===== | |
| Most functionality in KnowRob is contained in [[http://www.swi-prolog.org/pldoc/doc_for?object=section%281,%275%27,swi%28%27/doc/Manual/modules.html%27%29%29|Prolog modules]]. They can be loaded using the use_module directive. The module needs to be either somewhere in the Prolog 'library' path or be referenced relative to the current working directory: | |
| <code> | |
| use_module(library('module-name')). | |
| use_module('path/to/module-name'). | |
| </code> | |
| |
| ===== Loading OWL/Prolog files in ROS packages ===== | |
| |
| KnowRob uses [[http://www.ros.org/wiki/rosprolog|rosprolog]] to interact with the ROS filesystem structure. This facilitates loading complex package structures since dependencies on other ROS packages with KnowRob components are automatically resolved and loaded. | |
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| In order to use this functionality, each ROS package containing KnowRob components needs to correctly define its dependencies on other packages (in the manifest.xml) and contain a file 'prolog/init.pl'. This file will be called by rosprolog in order to set up the package itself and to initialize all dependencies (again by calling their init.pl). | |
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| Each KnowRob ROS package can be loaded using the following predicate: | |
| <code> | |
| register_ros_package('pkg-name'). | |
| </code> | |
| |
| Alternatively, one can launch KnowRob giving the respective package as argument to rosprolog: | |
| <code> | |
| rosrun rosprolog rosprolog pkg-name | |
| </code> | |
| |
| ===== Exporting knowledge into OWL files ===== | |
| At some point, you may want to create OWL files. This can be done with the predicates in the 'owl_export' module in the 'knowrob_common' package: | |
| |
| <code> | |
| % Export the perception of an object to an OWL file | |
| export_object(knowrob:'Drawer1', 'path/to/object.owl'). | |
| | |
| % Export the definition of an object class to an OWL file | |
| export_object_class(knowrob:'Drawer', 'path/to/objclass.owl'). | |
| | |
| % Export the map as the set of all perceptions of objects to an OWL file | |
| export_map(ias_semantic_map:'SemanticEnvironmentMap0', 'path/to/map.owl'). | |
| | |
| % Export an action specification (TBOX) to an OWL file | |
| export_action(knowrob:'PickingUpAnObject', 'path/to/action.owl'). | |
| </code> | |
