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loading_files_and_ros_packages [2013/02/12 17:41]
127.0.0.1 external edit
loading_files_and_ros_packages [2014/06/05 11:38]
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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>​