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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.
+=====  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.
+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).
+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>