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doc:writing_an_interface_to_your_perception_system [2014/11/27 14:38] – [KnowRob integration] admindoc:writing_an_interface_to_your_perception_system [2014/11/27 14:54] – [Perception service] admin
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 </code> </code>
  
-To start a rosjava node from KnowRob, you first need to instantiate the class containing the node definition, create an array with the fully-qualified class name, and pass it to  +To start a rosjava node from KnowRob, you first need to instantiate the class containing the node definition, create an array with the fully-qualified class name, and pass it to the ''runRosjavaNode'' method. After starting the dummy publisher in another terminalyou can start KnowRob, create the topic listener, and query for object instances and their poses.
- +
-If the dummy publisher is runningthe following sequence of commands starts the topic listener, queries for object instances and their poses.+
  
 <code prolog> <code prolog>
 ?- obj_detections_listener(L). ?- obj_detections_listener(L).
-L = @'J#00000000000173056232'. +L = @'J#00000000000034668496
-Attaching 0x8afd1010+% ... several rosjava INFO messages ...
  
 % wait for a few seconds... % wait for a few seconds...
  
 ?- owl_individual_of(A, knowrob:'HumanScaleObject'). ?- owl_individual_of(A, knowrob:'HumanScaleObject').
-A = 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup_vUXiHMJy' ; +A = knowrob:'Cup_uGmuwKPo' ; 
-A = 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup_bneXbLGX' ; +A = knowrob:'DrinkingBottle_TaVWzXre' ; 
-A = 'http://ias.cs.tum.edu/kb/knowrob.owl#DinnerFork_TaVWzXre'+A = knowrob:'DrinkingBottle_rMsqkRjP'
 +A = knowrob:'DinnerFork_tDjYwuhx'
  
-?- current_object_pose('http://ias.cs.tum.edu/kb/knowrob.owl#DinnerFork_TaVWzXre', P).+?- current_object_pose(knowrob:'DinnerFork_tDjYwuhx', P).
 P = [1.0,0.0,0.0,2.9473,0.0,1.0,0.0,2.6113,0.0,0.0,1.0,0.2590,0.0,0.0,0.0,1.0]. P = [1.0,0.0,0.0,2.9473,0.0,1.0,0.0,2.6113,0.0,0.0,1.0,0.2590,0.0,0.0,0.0,1.0].
 </code> </code>
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 ===== Perception service ===== ===== Perception service =====
  
-The dummy perception service is very similar to the dummy publisher. Whenever a request for an object detection is received, it responds with a simulated detection of a random object type at a random pose. In real scenarios, the request will probably not be empty, but specify properties of the perception method to be used. The code of the dummy service can be found in the file src/edu/tum/cs/ias/knowrob/tutorial/DummyService.java. It can be started with the following command:+The dummy perception service is very similar to the dummy publisher. Whenever a request for an object detection is received, it responds with a simulated detection of a random object type at a random pose. In the example, the 'request' part of the service is empty -- in real scenarios, the request will often specify properties of the perception method to be used. The code of the dummy service can be found in the file src/edu/tum/cs/ias/knowrob/tutorial/DummyService.java. It can be started with the following command:
 <code> <code>
 rosrun knowrob_perception_tutorial dummy_service rosrun knowrob_perception_tutorial dummy_service