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--- doc:reasoning_about_logged_experiences [2014/04/17 11:31] – [Reasoning about logged robot experiences] admin
+++ doc:reasoning_about_logged_experiences [2014/06/05 17:44] – [Reasoning over logged data using knowrob_mongo] admin
@@ Line 1: / Line 1: @@
 ====== 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 poses, perception results etc. Special Prolog predicates allow to access the information stored in the database.
 ===== 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 computer, make 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 names, for example 'tf'
-cf. mongodb_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
-===== Reasoning over logged data using knowrob_mongo =====
-This page lists different queries related to the sybolic inference about logged data stored in a 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 ====