Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
doc:reasoning_about_logged_experiences [2014/02/19 08:22] – admindoc:reasoning_about_logged_experiences [2014/06/05 17:44] (current) – [Installation] admin
Line 1: Line 1:
 ====== Reasoning about logged robot experiences ====== ====== Reasoning about logged robot experiences ======
  
-**Note: This page is being restructured, the following sections will be merged soon**+This page lists methods and tools for reasoning about log data of robot tasks created using the [[http://www.cram-system.org/doc#logging_infrastructure|CRAM logging infrastructure]]. These logs consist of two parts: High-level plan events are stored as action instances in an OWL file, while lower-level high-volume data is logged separately into a MongoDB database. This allows efficient recording and storage of data like tf poses, perception results etc. Special Prolog predicates allow to access the information stored in the database.
  
-===== Reasoning over logged data using knowrob_mongo =====+===== Installation =====
  
-This page lists different queries related to the sybolic inference about logged data stored in a MongoDB database.+Usually, the log files are created using the [[http://www.cram-system.org/doc/logging/roslog|CRAM logging infrastructure]] that also includes the installation of a MongoDB database. If you would like to use the system on another computer, make sure to have a MongoDB database installed (the Ubuntu default version should work). 
 +  sudo apt-get install mongodb-dev 
 + 
 +The logged data is stored in a database called 'roslog'; the collections in this database correspond to the respective topic names, for example 'tf'. From the KnowRob side, you will need the "Complete system including add-on packages" installation of KnowRob from source and compile mod_execution_trace using  
 +  rosmake mod_execution_trace 
 +   
 +We have prepared an archive with test data logged during a pick-and-place task with the PR2 robot. You can download the file from [[http://knowrob.org/files/pick-and-place.tar.bz2|here]] and insert it into your MongoDB using the following commands: 
 +  tar -xvjf pick-and-place.tar.bz2 
 +  cd pick-and-place 
 +  mongoimport --db roslog --collection tf tf.json 
 +  mongoimport --db roslog --collection logged_designators logged_designators.json 
 +  mongoimport --db roslog --collection logged_metadata logged_metadata.json 
 + 
 + 
 +===== Reasoning about logged data using knowrob_mongo ===== 
 +The knowrob_mongo package contains methods for accessing information in the MongoDB database via KnowRob predicates, for example the logged tf pose data or perception results.
  
 ==== Startup ==== ==== Startup ====