Differences

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--- doc:robots_and_the_internet [2013/11/25 10:05] – [Exchanging Information via RoboEarth] admin
+++ doc:robots_and_the_internet [2014/11/28 12:46] (current) – admin
@@ Line 1: / Line 1: @@
 ====== Tutorial on "Robots and the Internet" ======
-This tutorial was given at the [[http://aass.oru.se/Agora/Lucia2013/|2013 LUCIA Winter School]] on "AI and Robotics" in Örebro, Sweden. This page describes the practical examples complementing the presentation.
+This tutorial was given at the [[http://aass.oru.se/Agora/Lucia2013/|2013 LUCIA Winter School]] on "AI and Robotics" in Örebro, Sweden. This page describes the practical examples complementing the presentation; the slides can be found {{:doc:robots-and-internet.pdf|here}}.
+** This page has not been updated to the new, catkin-based version of KnowRob. Some packages used by the instructions below, such as opencyc, are not available in this version. **
 ===== Installation =====
@@ Line 50: / Line 52: @@
 ===== Object Ontology generated from an Online Shop =====
+Online shops can provide valuable information about objects and their properties. The package comp_germandeli contains an OWL ontology that has been generated from the [[http://www.germandeli.com|GermanDeli online shop]], selling German products in the US. It can be loaded into KnowRob and expands the 'objects' branch of the ontology with about 7,000 additional classes.
-  $ roscd comp_germandeli
+  $ rosrun rosprolog rosprolog comp_germandeli
-  $ rosmake
   ?- owl_subclass_of(A, germandeli:'Bakery').
@@ Line 90: / Line 92: @@
   O = literal(type(xsd:string,'6.99')) ;
 ===== Exchanging Information via RoboEarth =====
+[[http://www.roboearth.org|RoboEarth]] is a web-based database for exchanging information between robots via the Internet. The content of the database can be searched using a [[http://api.roboearth.org|web interface]] as well as using a [[http://api.roboearth.org/documentation/dev|REST-style API]]. The following examples show some tools that can interact with RoboEarth; the first two are graphical editors that can up-and download information to and from RoboEarth, the latter is a query interface that directly loads the information into KnowRob.
+==== RoboEarth-enabled Semantic Map Editor ====
+The [[http://knowrob.org/doc/semantic_map_editor|Semantic Map Editor]] can read and write information from/to RoboEarth. To get an impression, search for room '3002' and download the 'lucia.testmap'.
-http://knowrob.org/doc/semantic_map_editor
-http://knowrob.org/doc/action_recipe_editor
+==== RoboEarth-enabled Action Recipe Editor ====
-===== Remote Web-based Knowledge Processing =====
+Also the [[http://knowrob.org/doc/action_recipe_editor|Action Recipe Editor]] is able to exchange task descriptions via RoboEarth. You can download an example definition by searching for 'environment exploration' and downloading 'lucia.exploration'.
+==== Querying RoboEarth from KnowRob ====
+There is a [[http://knowrob.org/doc/exchanging_information_via_roboearth|KnowRob client for RoboEarth]] that can download and upload information directly from the knowledge base. In addition to KnowRob, you need a checkout of the current RoboEarth stack that you can install using
+  svn co https://ipvs.informatik.uni-stuttgart.de/roboearth/repos/public/tags/latest roboearth
+  rosmake re_comm
+The following are some example queries for downloading an action recipe and an environment map into KnowRob.
+  $ rosrun rosprolog rosprolog re_comm
+  ?- visualisation_canvas(_), planvis_create(_).
+  % Download an action recipe and add it to the visualization
+  ?- re_download_action_recipe('serve a drink', pr2:'PR2Robot1', Recipe),
+     re_generate_cpl_plan(Recipe, CplPlan),
+     planvis_load(Recipe,_).
+  % Download an environment map and visualize it
+  ?- re_request_map_for([['kr:roomNumber',3002], ['kr:floorNumber','3'],
+                         ['kr:streetNumber','45'], ['rdfs:label','Karlstrasse']], M),
+     owl_individual_of(Map, knowrob:'SemanticEnvironmentMap'),
+     add_object_with_children(Map, _).
+===== Remote Web-based Knowledge Processing =====
+The [[http://knowrob.org/doc/marker_visualization|web-based visualization canvas]] allows to interact with KnowRob via the Web by sending queries and visualizing their results. The setup is a bit complicated since Web servers are not installable purely via ROS, and opening a Prolog console to the world can be a security leak. However, for controlled environments, you can find the [[http://knowrob.org/doc/marker_visualization#installation|installation instructions]] and [[http://knowrob.org/doc/marker_visualization#example_queries|example queries]] here.