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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 14:38] – [KnowRob integration] admin | ||
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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:// | 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:// | ||
- | < | + | < |
obj_detections_listener(Listener) :- | obj_detections_listener(Listener) :- | ||
- | jpl_new(' | + | jpl_new(' |
- | jpl_call(Listener, | + | jpl_list_to_array(['org.knowrob.tutorials.DummySubscriber' |
+ | jpl_call(' | ||
</ | </ | ||
+ | |||
+ | 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 | ||
If the dummy publisher is running, the following sequence of commands starts the topic listener, queries for object instances and their poses. | If the dummy publisher is running, the following sequence of commands starts the topic listener, queries for object instances and their poses. | ||
- | < | + | < |
?- obj_detections_listener(L). | ?- obj_detections_listener(L). | ||
L = @' | L = @' | ||
Attaching 0x8afd1010 | Attaching 0x8afd1010 | ||
- | <wait for a few seconds...> | + | % wait for a few seconds... |
?- owl_individual_of(A, | ?- owl_individual_of(A, |