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doc:semantic_map_editor [2014/06/05 11:38] – external edit 127.0.0.1 | doc:semantic_map_editor [2014/11/28 17:48] (current) – admin | ||
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====== Semantic map editor ====== | ====== Semantic map editor ====== | ||
+ | ~~NOTOC~~ | ||
+ | \\ | ||
+ | ^ This page describes the ' | ||
+ | \\ | ||
The editor is designed as a simple graphical tool to facilitate the creation and debugging of semantic maps. It can load and export OWL descriptions of semantic environment maps and allows to create, delete, and modify the objects therein. Its main features are | The editor is designed as a simple graphical tool to facilitate the creation and debugging of semantic maps. It can load and export OWL descriptions of semantic environment maps and allows to create, delete, and modify the objects therein. Its main features are | ||
* Easy creation of object instances | * Easy creation of object instances | ||
- | * Pose description using position vector, | + | * Pose description using position vector, |
* Simple rotations around the different axes | * Simple rotations around the different axes | ||
- | * Keyboard-shortcuts for the most important commands | + | * Keyboard shortcuts for the most important commands |
* OWL import and export procedures | * OWL import and export procedures | ||
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git clone https:// | git clone https:// | ||
| | ||
- | The knowrob_gui directory needs to be in your ROS_PACKAGE_PATH environment variable. You can then compile | + | The knowrob_gui directory needs to be in your catkin workspace. Please |
- | rosmake knowrob_gui | + | |
- | + | ||
- | Knowrob_gui depends on the knowrob stack and its dependencies. Please have a look at the [[/ | + | |
rosrun knowrob_gui KnowRobGUI | rosrun knowrob_gui KnowRobGUI | ||
+ | | ||
+ | | ||
===== User interface ===== | ===== User interface ===== | ||
- | After starting the program, you can load a map from a local OWL file or from the RoboEarth repository (see below). If you click on "load map from file", a file selection dialog will open in which you can select an OWL file to be opened. If you want to start with an empty map, just click on ' | + | After starting the program, you can load a map from a local OWL file. If you click on "load map from file", a file selection dialog will open in which you can select an OWL file to be opened. If you want to start with an empty map, just click on ' |
The left part of the program visualizes the semantic map. Pieces of furniture are drawn in different shades of grey, doors in yellow, rotational hinges as blue cylinders (z-axis pointing along the cylinder towards the block marker), and prismatic joints as green cylinders. If the objects in the map have been linked to CAD models, these are shown instead of the generic block-based visualization. | The left part of the program visualizes the semantic map. Pieces of furniture are drawn in different shades of grey, doors in yellow, rotational hinges as blue cylinders (z-axis pointing along the cylinder towards the block marker), and prismatic joints as green cylinders. If the objects in the map have been linked to CAD models, these are shown instead of the generic block-based visualization. | ||
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The resulting map should look like this: http:// | The resulting map should look like this: http:// | ||
{{ : | {{ : | ||
+ | |||
===== RoboEarth integration ===== | ===== RoboEarth integration ===== | ||
- | + | The import | |
- | The functionality of the semantic map editor has been complemented with an interface to search for environment maps in RoboEarth and to load and export | + | |
- | + | ||
- | {{ : | + | |