Both sides previous revisionPrevious revisionNext revision | Previous revisionNext revisionBoth sides next revision |
srdl_extensions [2013/02/05 13:28] – [Defining an attribute requirement in *.owl files] tenorth | srdl_extensions [2013/02/05 13:29] – [Changes in the URDF->SRDL importer] tenorth |
---|
=== Attribute test === | === Attribute test === |
| |
srdl2:cap_available_on_robot('http://ias.cs.tum.edu/kb/srdl2-cap.owl#RangeTestCapability', | srdl2:cap_available_on_robot('http://ias.cs.tum.edu/kb/srdl2-cap.owl#RangeTestCapability', |
'http://ias.cs.tum.edu/kb/PR2.owl#PR2_robot1'). | 'http://ias.cs.tum.edu/kb/PR2.owl#PR2_robot1'). |
| |
=== Pose test === | === Pose test === |
| |
srdl2:cap_available_on_robot('http://ias.cs.tum.edu/kb/srdl2-cap.owl#PoseTestCapability', | srdl2:cap_available_on_robot('http://ias.cs.tum.edu/kb/srdl2-cap.owl#PoseTestCapability', |
'http://ias.cs.tum.edu/kb/PR2.owl#PR2_robot1'). | 'http://ias.cs.tum.edu/kb/PR2.owl#PR2_robot1'). |
| |
srdl2:cap_available_on_robot('http://ias.cs.tum.edu/kb/srdl2-cap.owl#HeightTestCapability', | srdl2:cap_available_on_robot('http://ias.cs.tum.edu/kb/srdl2-cap.owl#HeightTestCapability', |
'http://ias.cs.tum.edu/kb/PR2.owl#PR2_robot1'). | 'http://ias.cs.tum.edu/kb/PR2.owl#PR2_robot1'). |
| |
=== Size test === | === Size test === |
| |
srdl2:cap_available_on_robot('http://ias.cs.tum.edu/kb/srdl2-cap.owl#SizeTestCapability', | srdl2:cap_available_on_robot('http://ias.cs.tum.edu/kb/srdl2-cap.owl#SizeTestCapability', |
'http://ias.cs.tum.edu/kb/PR2.owl#PR2_robot1'). | 'http://ias.cs.tum.edu/kb/PR2.owl#PR2_robot1'). |
| |
=== Orientation test === | === Orientation test === |
| |
srdl2:cap_available_on_robot('http://ias.cs.tum.edu/kb/srdl2-cap.owl#OrientationTestCapability', | srdl2:cap_available_on_robot('http://ias.cs.tum.edu/kb/srdl2-cap.owl#OrientationTestCapability', |
'http://ias.cs.tum.edu/kb/PR2.owl#PR2_robot1'). | 'http://ias.cs.tum.edu/kb/PR2.owl#PR2_robot1'). |
| |
If the files of Philipps SVN branch are being used, all of these lines should return "True". If a "2" is being appended on a tests name, "False" should be the result. | If the files of Philipps SVN branch are being used, all of these lines should return "True". If a "2" is being appended on a tests name, "False" should be the result. |
E.g.: | E.g.: |
| |
srdl2:cap_available_on_robot('http://ias.cs.tum.edu/kb/srdl2-cap.owl#RangeTestCapability2', | srdl2:cap_available_on_robot('http://ias.cs.tum.edu/kb/srdl2-cap.owl#RangeTestCapability2', |
'http://ias.cs.tum.edu/kb/PR2.owl#PR2_robot1'). | 'http://ias.cs.tum.edu/kb/PR2.owl#PR2_robot1'). |
| |
| |
The URDL2SRDL importer converts *.urdf-files to the *.owl-file format. This tool was originally developed by Alexander Perzylo. In order to be able to define requirements on a components attributes, it had to also convert these attributes into the SRDL files. | The URDL2SRDL importer converts *.urdf-files to the *.owl-file format. This tool was originally developed by Alexander Perzylo. In order to be able to define requirements on a components attributes, it had to also convert these attributes into the SRDL files. |
| |
These attributes are not a part of the URDL description files as such but are added there by Gazebo [http://www.ros.org/wiki/gazebo] in order to use the URDF file to create a functional robot model for simulations. | These attributes are not a part of the URDL description files as such but are added there by [[http://www.ros.org/wiki/gazebo|Gazebo]] in order to use the URDF file to create a functional robot model for simulations. |
| |
Gazebo adds these additional attributes in its own <gazebo>...</gazebo>-Tags, which get parsed by the converter, if they are available. The <gazebo>-Tags hold one or more sub-Tags of the form <name>Value</name>, which contain the attributes for a component. They may also contain <controller:...>...</controller:...>-tags or <sensor:...>...</sensor:...>-tags which contain additional information on a specific components function. The <sensor:...>-tags are also used to specify a components type, a <sensor:ray>-Tag for example shows that the according component may be a laser scanner. | Gazebo adds these additional attributes in its own <gazebo>...</gazebo>-Tags, which get parsed by the converter, if they are available. The <gazebo>-Tags hold one or more sub-Tags of the form <name>Value</name>, which contain the attributes for a component. They may also contain <controller:...>...</controller:...>-tags or <sensor:...>...</sensor:...>-tags which contain additional information on a specific components function. The <sensor:...>-tags are also used to specify a components type, a <sensor:ray>-Tag for example shows that the according component may be a laser scanner. |