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| doc:reasoning_about_logged_experiences [2014/02/19 08:22] – admin | doc:reasoning_about_logged_experiences [2014/06/05 11:38] – external edit 127.0.0.1 |
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| ====== Reasoning about logged robot experiences ====== | ====== Reasoning about logged robot experiences ====== |
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| **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 poses, perception results etc. Special Prolog predicates allow to access the information stored in the database. |
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| ===== Reasoning over logged data using knowrob_mongo ===== | ===== Installation ===== |
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| This page lists different queries related to the sybolic inference about logged data stored in a MongoDB database. | 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 computer, make sure to have a MongoDB database installed (the Ubuntu default version should work). |
| | sudo apt-get install mongodb-dev |
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| | 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 |
| | rosmake mod_execution_trace |
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| | ===== Reasoning over 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. |
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| ==== Startup ==== | ==== Startup ==== |
