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| teaching:se-kiba:knowledge-assignment [2013/04/22 12:56] – [Implementation] tenorth | teaching:se-kiba:knowledge-assignment [2016/05/19 09:19] (current) – external edit 127.0.0.1 |
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| - Configure the 'chat_client' package to [[http://www.ros.org/wiki/rosjava_jni|compile Java code]] and add a simple (empty) Java file in the folder 'src/org/knowrob/tutorials/chat/ChatClient.java'. | - Configure the 'chat_client' package to [[http://www.ros.org/wiki/rosjava_jni|compile Java code]] and add a simple (empty) Java file in the folder 'src/org/knowrob/tutorials/chat/ChatClient.java'. |
| - Compile your packages with 'rosmake' and debug all remaining errors. You can have a look at other packages in the KnowRob stack (e.g. mod_vis) to get examples how to configure the CMakeLists.txt | - Compile your packages with 'rosmake' and debug all remaining errors. You can have a look at other packages in the KnowRob stack (e.g. mod_vis) to get examples how to configure the CMakeLists.txt |
| - Create an OWL file 'owl/living_room_objects.owl' in the 'livingroom_map' package using Protege. Import the knowrob.owl ontology from the ias_semantic_map package and create a few object classes as subclasses of the existing classes. | - Create an OWL file 'owl/living_room_objects.owl' in the 'livingroom_map' package using Protege. Import the knowrob.owl ontology from the ias_semantic_map package and create a few object classes as subclasses of the existing classes. Search for 'FurniturePiece', 'FoodVessel', 'BookCopy', etc as starting points. |
| | - Create another file 'owl/living_room_map.owl' that imports 'owl/living_room_objects.owl'. Open this file with the [[http://www.knowrob.org/doc/semantic_map_editor|semantic map editor]] and create instances of a few objects (e.g. a 'Table', two 'Cupboard's and a 'Sofa-PieceOfFurniture'). |
| | - Remember to create *.owl.in files from the OWL files in which the global include paths are replaced with placeholders as described [[http://www.knowrob.org/doc/create_your_own_knowrob_package|here]] and set up your CMakeLists.txt accordingly. The *.owl.in files are the ones that should be in the repository, not the *.owl files that are generated from them. |
| | - Compile your packages using rosmake and make sure the *.owl files are correctly generated. |
| | - If everything builds fine, add the changed files to the repository and commit them using a meaningful commit message. |
| | - Load KnowRob with the newly created 'livingroom_map' package as argument. The system should load without any errors, and you should see two lines saying that living_room_objects.owl and living_room_map.owl have been parsed. |
| | - Try to visualize the newly added objects and ask for their positions and properties. |
| | - Start with developing the chat client, starting from the test client in json_prolog/examples/JSONPrologTestClient.java (or one of the other example clients in whatever language you prefer). The json_prolog node offers a ROS service through which queries can be sent, the equivalent to the normal interactive Prolog shell that you have used before, just through ROS. |
| | - Extend the client such that it interprets simple natural-language commands like "Where is the sofa?", generates a Prolog query to read the (x,y,z) position of the sofa, and creates a simple response like "The sofa is at 0.2, 2.4, 0.3". |
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