Differences

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--- doc:writing_an_interface_to_your_perception_system [2014/11/27 13:23] – [Subscriber] admin
+++ doc:writing_an_interface_to_your_perception_system [2014/11/27 14:52] – [KnowRob integration] admin
@@ Line 90: / Line 90: @@
 This predicate from the knowrob_perception package is defined as below. It creates a new object instance for the given object type (''rdf_instance_from_class''), creates an instance describing the perception event using the ''PerceptionTypes'' given as argument, links the object instance to this perception event, and sets the pose at which the object was detected. This convenience predicate assumes that the detected objects are always novel. By calling the different predicates individually, one can also add perception events to existing objects instances if the identity of the object instance is known.
-<code>
+<code prolog>
 create_object_perception(ObjClass, ObjPose, PerceptionTypes, ObjInst) :-
     rdf_instance_from_class(ObjClass, ObjInst),
@@ Line 102: / Line 102: @@
 Whenever the subscriber is started, it creates the KnowRob-internal representations for all object detections that are received via the topic. It can be run from Prolog via the [[http://www.swi-prolog.org/packages/jpl/|JPL Java-Prolog interface]] as defined in prolog/perception_tutorial.pl:
-<code>
+<code prolog>
 obj_detections_listener(Listener) :-
-  jpl_new('edu.tum.cs.ias.knowrob.tutorial.DummySubscriber', ['knowrob_tutorial_listener'], Listener),
+  jpl_new('org.knowrob.tutorials.DummySubscriber', [], Listener),
-  jpl_call(Listener, 'startObjDetectionsListener', [], _).
+  jpl_list_to_array(['org.knowrob.tutorials.DummySubscriber'], Arr),
+  jpl_call('org.knowrob.utils.ros.RosUtilities', runRosjavaNode, [Listener, Arr], _).
 </code>
-If the dummy publisher is running, the following sequence of commands starts the topic listener, queries for object instances and their poses.
+To start a rosjava node from KnowRob, you first need to instantiate the class containing the node definition, create an array with the fully-qualified class name, and pass it to the ''runRosjavaNode'' method. After starting the dummy publisher in another terminal, you can start KnowRob, create the topic listener, and query for object instances and their poses.
-<code>
+<code prolog>
 ?- obj_detections_listener(L).
-L = @'J#00000000000173056232'.
+L = @'J#00000000000034668496'
-Attaching 0x8afd1010
+% ... several rosjava INFO messages ...
-<wait for a few seconds...>
+% wait for a few seconds...
 ?- owl_individual_of(A, knowrob:'HumanScaleObject').
-A = 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup_vUXiHMJy' ;
+A = knowrob:'Cup_uGmuwKPo' ;
-A = 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup_bneXbLGX' ;
+A = knowrob:'DrinkingBottle_TaVWzXre' ;
-A = 'http://ias.cs.tum.edu/kb/knowrob.owl#DinnerFork_TaVWzXre'
+A = knowrob:'DrinkingBottle_rMsqkRjP' ;
+A = knowrob:'DinnerFork_tDjYwuhx'
-?- current_object_pose('http://ias.cs.tum.edu/kb/knowrob.owl#DinnerFork_TaVWzXre', P).
+?- current_object_pose(knowrob:'DinnerFork_tDjYwuhx', P).
 P = [1.0,0.0,0.0,2.9473,0.0,1.0,0.0,2.6113,0.0,0.0,1.0,0.2590,0.0,0.0,0.0,1.0].
 </code>