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installation [2014/08/20 07:00] – [Workspace setup] admin | installation [2020/05/20 10:32] – [openEASE installation] daniel86 | ||
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====== KnowRob installation ====== | ====== KnowRob installation ====== | ||
- | KnowRob is available as part of the [[http:// | + | KnowRob is available as part of the [[http:// |
- | ===== Installation | + | - Dependencies |
+ | * **SWI Prolog >= 7.6** is required. You may need to set-up a [[https:// | ||
+ | - Installation | ||
+ | * Install KnowRob into a [[/ | ||
+ | * Install KnowRob into a [[/ | ||
+ | * Installation on [[/ | ||
+ | - Workspace configuration | ||
+ | * [[/ | ||
- | There are pre-built .deb packages for Ubuntu Linux in the ROS repository. They are normally built only once per ROS distribution and are therefore stable, but not the most up-to-date version. | + | ======openEASE installation ====== |
- | **NOTE:** There is a [[https:// | + | openEASE |
- | After adding the ROS repository to your sources.list as described | + | [[/doc/docker|Install and run openEASE]] |
- | < | + | |
- | sudo apt-get install ros-groovy-knowrob | + | |
- | </ | + | |
- | For future releases, replace ' | + | |
- | ===== Installation from source ===== | ||
- | |||
- | If you are not using Ubuntu or would like to use the latest KnowRob version, you can install the system from source. We have prepared different .rosinstall setup files that you can add to your ROS workspace as described [[http:// | ||
- | |||
- | ===Basic KnowRob installation=== | ||
- | rosws merge https:// | ||
- | rosws update | ||
- | rosdep install knowrob | ||
- | rosmake knowrob | ||
- | |||
- | ===KnowRob system including tutorials=== | ||
- | rosws merge https:// | ||
- | rosws update | ||
- | rosdep install knowrob | ||
- | rosmake knowrob | ||
- | |||
- | ===Complete system including add-on packages=== | ||
- | rosws merge https:// | ||
- | rosws update | ||
- | rosdep install knowrob | ||
- | rosmake knowrob | ||
- | | ||
- | ===Developer setup (requires access to private repositories)=== | ||
- | rosws merge https:// | ||
- | rosws update | ||
- | rosdep install knowrob | ||
- | rosmake knowrob | ||
- | | ||
- | You are now done with the KnowRob installation. Have a look at the [[doc/ | ||
- | |||
- | ===== Installation on other platforms | ||
- | |||
- | Ubuntu Linux is the only officially supported platform, though installation from source should work without problems on other Linux distributions. If there are no rosdep rules for your platform, have a look at the rosdep.yaml file in the knowrob folder to see a list of programs that need to be installed and install the packages yourself. | ||
- | |||
- | In principle, installation in MacOS and Windows should also be possible (at least all dependencies are available), but there is no support. If you succeed in installing the system on one of these platforms, please notify the KnowRob developers. | ||
- | |||
- | |||
- | ====== Workspace setup ====== | ||
- | It is recommended to add the following to your ~/.plrc file to get a global command history for the Prolog shell: | ||
- | |||
- | <code prolog> | ||
- | rl_write_history :- | ||
- | expand_file_name(" | ||
- | rl_write_history(File). | ||
- | | ||
- | :- ( | ||
- | current_prolog_flag(readline, | ||
- | -> | ||
- | expand_file_name(" | ||
- | (exists_file(File) -> rl_read_history(File); | ||
- | at_halt(rl_write_history) | ||
- | ; | ||
- | true | ||
- | ). | ||
- | </ | ||
- | |||
- | If you use Java code (which several KnowRob packages do), you may need to set the JAVA_HOME and SWI_HOME_DIR environment variables, e.g. by adding these lines to your ~/.bashrc file: | ||
- | export JAVA_HOME=/ | ||
- | export SWI_HOME_DIR=/ | ||
- | |||
- | You further need to add the Java directories to your LD_LIBRARY_PATH environment variable. Choose either of the following dependent on your system architecture: | ||
- | <code bash> | ||
- | # for amd_64 systems (64 bits): | ||
- | export LD_LIBRARY_PATH=/ | ||
- | |||
- | # for i386 systems (32bits): | ||
- | export LD_LIBRARY_PATH=/ | ||
- | |||
- | |||
- | </ | ||
- | |||
- | ====== Add-on packages ====== | ||
- | |||
- | Several tools and additional packages exist that extend the core KnowRob stack with different kinds of functionality. While we try to keep the core stack as small and general-purpose as possible, the packages listed in the following sections provide more specific functionality. They are all part of the ' | ||
- | |||
- | ===== KnowRob tutorials ===== | ||
- | There are tutorials for different parts of the system in the [[doc|documentation section]]. The corresponding source code can be found here: | ||
- | git clone https:// | ||
- | | ||
- | ===== Semantic Map editor ===== | ||
- | This [[http:// | ||
- | git clone https:// | ||
- | |||
- | ===== Import of natural-language Web instructions ===== | ||
- | The package [[http:// | ||
- | git clone https:// | ||
- | | ||
- | ===== Simple dialog system ===== | ||
- | The [[http:// | ||
- | git clone https:// | ||
- | |||
- | ===== Tools for analyzing observations of human activities ===== | ||
- | A few tools for the analysis of observations (motion tracking data) of human activities can be found in the knowrob_human repository. While not as generally usable as the main KnowRob stack, it may be useful for some people. | ||
- | git clone https:// | ||
- | |||
- | |||
- | |||
- | ====== Related software ====== | ||
- | |||
- | ===== CRAM ===== | ||
- | The [[http:// | ||
- | |||
- | ===== RoboEarth ===== | ||
- | [[http:// | ||
- | |||
- | ===== ProbCog: statistical relational learning library ===== | ||
- | |||
- | [[http:// | ||
- | |||
- | ===== Labeling tool for human activities ===== | ||
- | This [[labeling_tools|GUI program]] facilitates the annotation of observations of human actions. It can load videos and sequences as still images and offers different options for creating annotations. As output, it can generate different annotation file formats that describe what the observed subject is doing. | ||
- | git clone https:// | ||