====== Minutes of the "handover" meeting -- An overview of what's available in KnowRob ======

===== Infrastructure =====

==== Repositories ====

All packages in all repositories are supposed to compile at any time in order not to break the build for anyone. If you plan longer-term changes that result in a broken state in between, please create a temporary branch or your own fork, but merge it back as soon as possible.

  * **knowrob:** Core stack, try to keep this as generic as possible (it's a bit overfit to household scenarios, but we should keep in mind that it's used for household, outdoor, underwater and other robotics)
  * **knowrob_addons:** Miscellaneous packages that are less mature or less generic than those in KnowRob
  * **knowrob_dev:** Formerly internal development repository, currently contains the CAD model reasoning
  * **knowrob_gui:** Graphical editors for semantic maps and action recipes
  * **knowrob_human:** Tools for reasoning about human data, developed for the TUM Kitchen Data Set
  * **knowrob_tutorials:** Tutorial package: first steps, perception integration


==== Package naming ====
  * Please use knowrob_* instead of the older comp_* (with computables) or mod_* (for generic modules). Since there are no stacks any more, all packages live in the same namespace, so each should have a unique and meaningful name.

==== Package layout ====

http://www.knowrob.org/doc/create_your_own_knowrob_package


===== Best practices =====

  * Separate code and data: do not auto-load OWL files with data (such as environment maps), do this using a proper launch file such as the ones in knowrob_map_data
  * Use unique identifiers: avoid name clashes between instances that share the same identifier
  * Keep the dependency list small, create demo-specific packages with launch files and dependencies
  * Put special-purpose functionality into knowrob_addons
  * Create wiki pages while developing a novel package, copy/paste your test queries there, make your students do the same to document how their stuff can be used without having to think too much about it

===== Representations in OWL =====

==== Upper ontology ====

see knowrob.owl in knowrob_common/owl/
==== Computable properties ====
http://www.knowrob.org/doc/reasoning_using_computables

http://www.knowrob.org/doc/defining_computables
==== Objects ====

  * Object classes
  * Object instances
  * Object positions over time

==== Actions ====

  * Action classes
  * Action recipes/task descriptions
  * Action instances/log files




===== Overview of the available KnowRob packages =====

  - rosprolog, json_prolog
  - knowrob_common
  - comp_temporal, comp_spatial
  - knowrob_objects, knowrob_map_tools, knowrob_map_data, comp_orgprinciples
  - knowrob_actions
  - knowrob_srdl
  - tf_prolog
  - knowrob_mongo, visualization infrastructure
  - knowrob_addons: knowrob_cram, knowrob_motion_constraints
  - knowrob_gui
  - knowrob_human
  - knowrob_tutorials