Knowrob_seds package upgraded to the Catkin/RosJava version. This module provides methods for representing and reasoning about tasks learned through SEDS motion specifications in KnowRob.
- Follow the instructions [here] (http://www.knowrob.org/installation/catkin "Title") to install Knowrob in a catkin workspace.
- Install catkinized robohow_common_msgs package:
$ git clone https://github.com/nbfigueroa/robohow_common_msgs_catkin.git
$ git clone https://github.com/nbfigueroa/rosjava_knowrob_seds.git
$ catkin_make
Reads task models (motion models and constraints for each phase) from a ./task directory and converts to OWL file.
rosrun rosjava_knowrob_seds ./rosjava_gmm_to_owl/build/install/rosjava_gmm_to_owl/bin/rosjava_gmm_to_owl ./test_task >> test-task.owl
Put generated test-task.owl file into rosjava_knowrob_seds/owl folder. Start the knowledge base with the provided launch file and test the query interface with the Python test client, as below:
$ roslaunch rosjava_knowrob_seds knowrob_seds.launch
$ rosrun rosjava_knowrob_seds test_seds_model.py