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create_and_load_a_semantic_map [2012/12/01 11:58] – tenorthcreate_and_load_a_semantic_map [2014/06/05 11:38] (current) – external edit 127.0.0.1
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-====== Create and load a semantic map ====== +#REDIRECT doc:create_and_load_a_semantic_map
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-Semantic maps are descriptions of an environment in terms of localized object instances and are stored in OWL files. There are different ways how to create such a file: +
-  * The [[Semantic Map Editor]] is a graphical editor for semantic maps. It can be used to create object instances and to set their positions. +
-  * If you already have a map datastructure and would like to create a semantic map from your program, you can use the SemanticMapToOWL ROS service. +
-  * If you have integrated a perception system into KnowRob, a kind of semantic map is automatically created by the objects the robot perceives. You can save the in-memory map to an OWL file using the methods in the [[http://ros.org/wiki/knowrob_common|owl_export module]] +
-  * In some cases, it may actually be the fastest to create the map manually in a good text editor in which you can copy and paste the object instances and their pose matrices. If you plan to do this, you should have well understood [[object pose representation|how object poses are represented in KnowRob]]. +
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-===== SemanticMapToOWL ===== +
-If you have the information for the semantic map available in your program, the easiest way to get a valid OWL file is probably to use the SemanticMapToOWL ROS service described here: http://ias.in.tum.de/kb/wiki/index.php/Mod_semantic_map#SemanticMapToOWL If you do not want to use the service, you can still have a look at how the OWL is generated using the OWLAPI, but since the internal object representation is quite a complex thing, I'd recommend to start with that service. +
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-The object type that you get from the perception system indeed corresponds to the object class in KnowRob. If the identifiers do not match, you need to create a mapping at some point; if you use the conversion service, the easiest place would be to have the mapping in your code for now. You can get a list of all object classes in KnowRob using the following command: +
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-$ rosrun mod_semantic_map SemanticMapToOWL list +
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-The visualization module only supports a subset of these classes. We currently have two ways to define how an item is to be visualized: the legacy version used custom Java classes that draw the item to the visualization, see here:  +
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-$ roscd mod_vis/src/de/tum/in/fipm/kipm/gui/visualisation/items +
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-We are currently switching to a more flexible system based on CAD models (e.g. Collada). To make this work, you need to specify the path to the model as a property of the respective instance or class, see the lower part of this file for an example: +
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-knowrob_cad_models/owl/knowrob_cad_models.owl.in +
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