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— | loading_files_and_ros_packages [2012/12/01 10:45] – [Loading files and ROS packages] tenorth | ||
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+ | ====== Loading files and ROS packages ====== | ||
+ | ~~NOTOC~~ | ||
+ | There are different ways how OWL and Prolog files can be loaded. For testing purposes, one can load single files. For deployment, one usually wants to set up a ROS package in such a way that all related files are automatically loaded. Both alternatives will be explained below. | ||
+ | ===== Loading OWL files ===== | ||
+ | OWL files need to be parsed to be [[http:// | ||
+ | |||
+ | < | ||
+ | | ||
+ | </ | ||
+ | |||
+ | ===== Loading Prolog modules | ||
+ | Most functionality in KnowRob is contained in [[http:// | ||
+ | < | ||
+ | | ||
+ | | ||
+ | </ | ||
+ | |||
+ | ===== Loading OWL/Prolog files in ROS packages | ||
+ | |||
+ | KnowRob uses [[http:// | ||
+ | |||
+ | In order to use this functionality, | ||
+ | |||
+ | Each KnowRob ROS package can be loaded using the following predicate: | ||
+ | < | ||
+ | | ||
+ | </ | ||
+ | |||
+ | Alternatively, | ||
+ | < | ||
+ | | ||
+ | </ | ||
+ | |||
+ | ===== Exporting knowledge into OWL files ===== | ||
+ | At some point, you may want to create OWL files. This can be done with the predicates in the ' | ||
+ | |||
+ | < | ||
+ | % Export the perception of an object to an OWL file | ||
+ | | ||
+ | |||
+ | % Export the definition of an object class to an OWL file | ||
+ | | ||
+ | |||
+ | % Export the map as the set of all perceptions of objects to an OWL file | ||
+ | | ||
+ | |||
+ | % Export an action specification (TBOX) to an OWL file | ||
+ | | ||
+ | </ |