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--- create_and_load_a_semantic_map [2012/11/30 11:49] – created tenorth
+++ create_and_load_a_semantic_map [2014/06/05 11:38] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
-The probably easiest way to get a valid OWL file is to use the SemanticMapToOWL ROS service described here: http://ias.in.tum.de/kb/wiki/index.php/Mod_semantic_map#SemanticMapToOWL If you do not want to use the service, you can still have a look at how the OWL is generated using the OWLAPI, but since the internal object representation is quite a complex thing, I'd recommend to start with that service.
+#REDIRECT doc:create_and_load_a_semantic_map
-The object type that you get from the perception system indeed corresponds to the object class in KnowRob. If the identifiers do not match, you need to create a mapping at some point; if you use the conversion service, the easiest place would be to have the mapping in your code for now. You can get a list of all object classes in KnowRob using the following command:
-$ rosrun mod_semantic_map SemanticMapToOWL list
-The visualization module only supports a subset of these classes. We currently have two ways to define how an item is to be visualized: the legacy version used custom Java classes that draw the item to the visualization, see here:
-$ roscd mod_vis/src/de/tum/in/fipm/kipm/gui/visualisation/items
-We are currently switching to a more flexible system based on CAD models (e.g. Collada). To make this work, you need to specify the path to the model as a property of the respective instance or class, see the lower part of this file for an example:
-knowrob_cad_models/owl/knowrob_cad_models.owl.in