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srdl_extensions [2013/02/05 13:28] – [Defining an attribute requirement in *.owl files] tenorthsrdl_extensions [2013/02/12 17:41] – external edit 127.0.0.1
Line 272: Line 272:
 === 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.
Line 297: Line 297:
 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').
  
  
Line 345: Line 345:
 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.