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doc:flow_chart_visualization [2013/04/22 08:49] – created admindoc:flow_chart_visualization [2014/06/05 11:38] – external edit 127.0.0.1
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   * Executing Java methods: Static Java methods can be specified using IRIs of the form java:%%//%%<namespace+class>#<method>()   * Executing Java methods: Static Java methods can be specified using IRIs of the form java:%%//%%<namespace+class>#<method>()
   * Querying the KnowRob knowledge base: Prolog queries are described by 'prolog:%%//%%<query>'   * Querying the KnowRob knowledge base: Prolog queries are described by 'prolog:%%//%%<query>'
-  * Calling ROS services: ROS services can be called (with either no arguments or those of type string) by service:%%//%%<node>/<service-name>#<argument>'+  * Calling ROS services: ROS services can be called by service:%%//%%<node>/<service-name>#<type>&<argument>'. Since rosjava has limited support for introspection (which could be used to read the service types and message formats), the logic for calling the service needs to be implemented in the Java file.
  
 The following example of a [[http://en.wikipedia.org/wiki/YAML|YAML file]] defines three actions for the IDs //prac//, //importer// and //tracking//. As mentioned earlier, the corresponding blocks are called //block_<id>//. The following example of a [[http://en.wikipedia.org/wiki/YAML|YAML file]] defines three actions for the IDs //prac//, //importer// and //tracking//. As mentioned earlier, the corresponding blocks are called //block_<id>//.
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     prac     : 'java://org.prac.main.PracInfer#doStuff()'     prac     : 'java://org.prac.main.PracInfer#doStuff()'
     importer : 'prolog://query(a, B, C), a2(C)'     importer : 'prolog://query(a, B, C), a2(C)'
-    tracking : 'service://hand_tracking/start#startTracking'+    tracking : 'service://hand_tracking/start#hand_tracking.srv.StartTracker&startTracking'