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create_and_load_a_semantic_map [2012/12/01 12:01] – [Create and load a semantic map] 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. More information on this is given below. +
-  * If you have [[Write an interface to your perception system|integrated a perception system]] with 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. +
- +
-The object types in the semantic map message need to correspond to the object classes 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: +
-<code> +
-rosrun mod_semantic_map SemanticMapToOWL list +
-</code> +