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--- doc:robots_and_the_internet [2013/11/25 09:32] – [Segmentation and Interpretation of Geometric Object Models] admin
+++ doc:robots_and_the_internet [2014/06/05 11:38] – external edit 127.0.0.1
@@ 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}}.
 ===== Installation =====
@@ Line 50: / Line 50: @@
 ===== 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.
+  $ rosrun rosprolog rosprolog comp_germandeli
+  ?- owl_subclass_of(A, germandeli:'Bakery').
+  A = germandeli:'Bakery' ;
+  A = germandeli:'Apple_Strudel' ;
+  A = germandeli:'German_Apfelstrudel_10_slices_individually_wrapped' ;
+  A = germandeli:'Breads' ;
+  A = germandeli:'Assorted_Breads' ;
+  A = germandeli:'Pruente_Landbrot_500g' ;
+  A = germandeli:'Pruente_Sonnenkernbrot_Sunflowerseed_Rye_Bread_500g' ;
+  A = germandeli:'Ruhrtaler_Vollkornbrot_Rye_Bread_500g' ;
+  A = germandeli:'Ruhrtaler_Volllkornbrot_Rye_Bread_250g' ;
+  [...]
+  ?- owl_subclass_of(A, germandeli:'Bakery'), owl_subclass_of(A, knowrob:'HeatSensitive').
+  A = germandeli:'Pumpkin_Seed_Bread_475g' ;
+  A = germandeli:'Bahlsen_Comtess_Choco_Chips_Cake_400g' ;
+  A = germandeli:'Bahlsen_Comtess_Malaga_400g' ;
+  A = germandeli:'Bahlsen_Comtess_Schoko_Kokos_Genuss_400g' ;
+  A = germandeli:'Comtess_Zitronen_Kuchen_Lemon_Cake_400g' ;
+  A = germandeli:'Comtess_a_la_Banana_Split_Cake_400g' ;
+  A = germandeli:'Baumkuchen_Vollmilch_Tree_Cake_w_Milk_Chocolate' .
+  [...]
+  ?- class_properties(germandeli:'Vitalis_Fruechte_Muesli_Fruit_Cereal_375g', P, O).
+  P = germandeli:productCode,
+  O = literal(type(xsd:string,'4000521642006')) ;
+  P = germandeli:brand,
+  O = literal(type(xsd:string,'Dr. Oetker')) ;
+  P = germandeli:countryOfOrigin,
+  O = literal(type(xsd:string,'Germany')) ;
+  P = germandeli:productID,
+  O = literal(type(xsd:string,oetkermuesli)) ;
+  P = knowrob:weight,
+  O = literal(type(xsd:string,'13.3oz (375g)')) ;
+  P = knowrob:purchasePrice,
+  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'.
-===== Exchanging Information via RoboEarth =====
+==== RoboEarth-enabled Action Recipe Editor ====
+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'.
-===== Remote Web-based Knowledge Processing =====
+==== 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.