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doc:robots_and_the_internet [2013/11/25 11:46] – [Querying RoboEarth from KnowRob] admin | doc:robots_and_the_internet [2014/11/28 12:46] (current) – admin |
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====== Tutorial on "Robots and the Internet" ====== | ====== Tutorial on "Robots and the Internet" ====== |
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This tutorial was given at the [[http://aass.oru.se/Agora/Lucia2013/|2013 LUCIA Winter School]] on "AI and Robotics" in Örebro, Sweden. This page describes the practical examples complementing the presentation. | This tutorial was given at the [[http://aass.oru.se/Agora/Lucia2013/|2013 LUCIA Winter School]] on "AI and Robotics" in Örebro, Sweden. This page describes the practical examples complementing the presentation; the slides can be found {{:doc:robots-and-internet.pdf|here}}. |
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| ** This page has not been updated to the new, catkin-based version of KnowRob. Some packages used by the instructions below, such as opencyc, are not available in this version. ** |
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===== Installation ===== | ===== Installation ===== |
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===== Object Ontology generated from an Online Shop ===== | ===== Object Ontology generated from an Online Shop ===== |
| Online shops can provide valuable information about objects and their properties. The package comp_germandeli contains an OWL ontology that has been generated from the [[http://www.germandeli.com|GermanDeli online shop]], selling German products in the US. It can be loaded into KnowRob and expands the 'objects' branch of the ontology with about 7,000 additional classes. |
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$ roscd comp_germandeli | $ rosrun rosprolog rosprolog comp_germandeli |
$ rosmake | |
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?- owl_subclass_of(A, germandeli:'Bakery'). | ?- owl_subclass_of(A, germandeli:'Bakery'). |
O = literal(type(xsd:string,'6.99')) ; | O = literal(type(xsd:string,'6.99')) ; |
===== Exchanging Information via RoboEarth ===== | ===== Exchanging Information via RoboEarth ===== |
| [[http://www.roboearth.org|RoboEarth]] is a web-based database for exchanging information between robots via the Internet. The content of the database can be searched using a [[http://api.roboearth.org|web interface]] as well as using a [[http://api.roboearth.org/documentation/dev|REST-style API]]. The following examples show some tools that can interact with RoboEarth; the first two are graphical editors that can up-and download information to and from RoboEarth, the latter is a query interface that directly loads the information into KnowRob. |
==== RoboEarth-enabled Semantic Map Editor ==== | ==== RoboEarth-enabled Semantic Map Editor ==== |
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The [[http://knowrob.org/doc/semantic_map_editor|Semantic Map Editor]] can read and write information from/to RoboEarth. To get an impression, search for room '3001' and download the 'semmap.iaskitchen'. | The [[http://knowrob.org/doc/semantic_map_editor|Semantic Map Editor]] can read and write information from/to RoboEarth. To get an impression, search for room '3002' and download the 'lucia.testmap'. |
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% Download an environment map and visualize it | % Download an environment map and visualize it |
?- re_request_map_for([['kr:roomNumber',|3001]], [['kr:floorNumber',|'3']], | ?- re_request_map_for([['kr:roomNumber',3002], ['kr:floorNumber','3'], |
[['kr:streetNumber',|'45']], [['rdfs:label',|'Karlstrasse']], M), | ['kr:streetNumber','45'], ['rdfs:label','Karlstrasse']], M), |
owl_individual_of(Map, knowrob:'SemanticEnvironmentMap'), | owl_individual_of(Map, knowrob:'SemanticEnvironmentMap'), |
add_object_with_children(Map, _). | add_object_with_children(Map, _). |
===== Remote Web-based Knowledge Processing ===== | ===== Remote Web-based Knowledge Processing ===== |
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| The [[http://knowrob.org/doc/marker_visualization|web-based visualization canvas]] allows to interact with KnowRob via the Web by sending queries and visualizing their results. The setup is a bit complicated since Web servers are not installable purely via ROS, and opening a Prolog console to the world can be a security leak. However, for controlled environments, you can find the [[http://knowrob.org/doc/marker_visualization#installation|installation instructions]] and [[http://knowrob.org/doc/marker_visualization#example_queries|example queries]] here. |