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doc:semantic_map_editor [2014/11/28 17:40]
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doc:semantic_map_editor [2014/11/28 17:48] (current)
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 ~~NOTOC~~ ~~NOTOC~~
 \\ \\
-^ This page describes the '​catkinized'​ version of KnowRob that uses the [[http://​wiki.ros.org/​catkin/​|catkin buildsystem]] and the pure Java-based [[http://​wiki.ros.org/​rosjava|rosjava]]. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni,​ can be found [[/​doc/​semantic_map_editor?​rev=1417090277|here]].^+^ This page describes the '​catkinized'​ version of KnowRob that uses the [[http://​wiki.ros.org/​catkin/​|catkin buildsystem]] and the pure Java-based [[http://​wiki.ros.org/​rosjava|rosjava]]. The documentation for the older version, which was based on the rosbuild buildsystem and rosjava_jni,​ can be found [[/​doc/​semantic_map_editor?​rev=1401968328|here]].^
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   git clone https://​github.com/​knowrob/​knowrob_gui.git   git clone https://​github.com/​knowrob/​knowrob_gui.git
   ​   ​
-The knowrob_gui directory needs to be in your ROS_PACKAGE_PATH environment variableYou can then compile ​the program ​using rosmake: +The knowrob_gui directory needs to be in your catkin workspacePlease ​compile ​it using '​catkin_make'​ after checking out the repository. ​Knowrob_gui depends on the knowrob stack and its dependencies. Please have a look at the installation instructions if you haven'​t installed knowrob yet. You can then start the editor with the following command: ​
-  rosmake knowrob_gui +
-   +
-Knowrob_gui depends on the knowrob stack and its dependencies. Please have a look at the [[/​installation|installation instructions]] if you haven'​t installed knowrob yet. You can then start the editor with the following command:+
   rosrun knowrob_gui KnowRobGUI   rosrun knowrob_gui KnowRobGUI
 +  ​
 +  ​
 ===== User interface ===== ===== User interface =====
  
-After starting the program, you can load a map from a local OWL file or from the RoboEarth repository (see below). If you click on "load map from file", a file selection dialog will open in which you can select an OWL file to be opened. If you want to start with an empty map, just click on '​cancel'​. If you have selected a map, it will be loaded and visualized.+After starting the program, you can load a map from a local OWL file. If you click on "load map from file", a file selection dialog will open in which you can select an OWL file to be opened. If you want to start with an empty map, just click on '​cancel'​. If you have selected a map, it will be loaded and visualized.
  
 The left part of the program visualizes the semantic map. Pieces of furniture are drawn in different shades of grey, doors in yellow, rotational hinges as blue cylinders (z-axis pointing along the cylinder towards the block marker), and prismatic joints as green cylinders. If the objects in the map have been linked to CAD models, these are shown instead of the generic block-based visualization. The left part of the program visualizes the semantic map. Pieces of furniture are drawn in different shades of grey, doors in yellow, rotational hinges as blue cylinders (z-axis pointing along the cylinder towards the block marker), and prismatic joints as green cylinders. If the objects in the map have been linked to CAD models, these are shown instead of the generic block-based visualization.
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 The resulting map should look like this: http://​ias.cs.tum.edu/​kb/​demo-map.owl The resulting map should look like this: http://​ias.cs.tum.edu/​kb/​demo-map.owl
 {{ :​doc:​demo-map.png?​nolink&​700 |}} {{ :​doc:​demo-map.png?​nolink&​700 |}}
 +
  
 ===== RoboEarth integration ===== ===== RoboEarth integration =====
- +The import ​and export from/to RoboEarth ​is deprecated since the RoboEarth ​project has ended and the availability ​of the server infrastructure is not guaranteed any more.
-The functionality of the semantic map editor has been complemented with an interface to search for environment maps in RoboEarth and to load and export ​maps from and to RoboEarth. The button “Load map from RoboEarth” opens the dialog shown below. Maps are indexed by their address, floor and room number and can be searched by any combination ​of this. Once changes have been made, the updated map can be uploaded to RoboEarth using the “Save map to RoboEarth” button. +
- +
-{{ :​roboearth-map-search.png? |}}+