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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 | ||
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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(' | ||
</ | </ | ||
- | If the dummy publisher | + | 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 '' |
- | < | + | < |
?- obj_detections_listener(L). | ?- 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, | ?- owl_individual_of(A, | ||
- | A = ' | + | A = knowrob:' |
- | A = ' | + | A = knowrob:' |
- | A = 'http:// | + | A = knowrob:' |
+ | A = knowrob:' | ||
- | ?- current_object_pose(' | + | ?- current_object_pose(knowrob:' |
P = [1.0, | P = [1.0, | ||
</ | </ |