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doc:reasoning_about_logged_experiences [2014/04/17 11:31] – [Reasoning about logged robot experiences] admindoc:reasoning_about_logged_experiences [2014/06/05 17:44] (current) – [Installation] admin
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 ====== Reasoning about logged robot experiences ====== ====== Reasoning about logged robot experiences ======
  
-**Note: This page is being restructured, the following sections will be merged soon** +This page lists methods and tools for reasoning about log data of robot tasks created using the [[http://www.cram-system.org/doc#logging_infrastructure|CRAM logging infrastructure]]. These logs consist of two parts: High-level plan events are stored as action instances in an OWL file, while lower-level high-volume data is logged separately into a MongoDB database. This allows efficient recording and storage of data like tf posesperception results etc. Special Prolog predicates allow to access the information stored in the database.
  
 ===== Installation ===== ===== Installation =====
  
-MongoDB  +Usually, the log files are created using the [[http://www.cram-system.org/doc/logging/roslog|CRAM logging infrastructure]] that also includes the installation of a MongoDB database. If you would like to use the system on another computermake sure to have a MongoDB database installed (the Ubuntu default version should work). 
-Database called 'roslog+  sudo apt-get install mongodb-dev
-collections in this database correspond to the respective topic namesfor example 'tf'+
  
-cfmongodb_log  +The logged data is stored in a database called 'roslog'; the collections in this database correspond to the respective topic names, for example 'tf'From the KnowRob side, you will need the "Complete system including add-on packages" installation of KnowRob from source and compile mod_execution_trace using  
-http://www.cram-system.org/doc/logging/roslog+  rosmake mod_execution_trace 
 +   
 +We have prepared an archive with test data logged during a pick-and-place task with the PR2 robot. You can download the file from [[http://knowrob.org/files/pick-and-place.tar.bz2|here]] and insert it into your MongoDB using the following commands: 
 +  tar -xvjf pick-and-place.tar.bz2 
 +  cd pick-and-place 
 +  mongoimport --db roslog --collection tf tf.json 
 +  mongoimport --db roslog --collection logged_designators logged_designators.json 
 +  mongoimport --db roslog --collection logged_metadata logged_metadata.json
  
-===== Reasoning over logged data using knowrob_mongo ===== 
  
-This page lists different queries related to the sybolic inference about logged data stored in MongoDB database.+===== Reasoning about logged data using knowrob_mongo ===== 
 +The knowrob_mongo package contains methods for accessing information in the MongoDB database via KnowRob predicates, for example the logged tf pose data or perception results.
  
 ==== Startup ==== ==== Startup ====