The K4R Data Provider forwards data from the Digital Twin API (dt-api) of the Knowledge4Retail platform, local files or knowrob (like shelves or products) to ROS.
The K4R data provider was initiated developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI) in Bremen.
The K4R Data Provider acts as a bridge between the K4R-Platform and ROS, so you can use data from the K4R Platform in ROS-Messages. You can either use the k4r_data_provider as command line interface (CLI) to get the data from the Services and save as json files or use the provided ROS Services to publish the data to ROS directly (for Product and Shelf)
k4r-data-provider is written in python, so its CLI can be installed for the current user using pip/pip3:
# clone and cd into the mapdesc-directory
pip3 install .or for all users system-wide:
# clone and cd into the mapdesc-directory
sudo pip3 install .The ROS environment can be build using catkin. For certificate authentification with the K4R platform you need to add your certificates to the k4r_data-folder.
To use the ROS-Services you need to install ROS 1 noetic.
To just import/export K4R-data using the CLI you just need requests_pkcs12 and certificates for a dt-api connection or a Knowrob instance for the knowrob-type. We also provide some test data in the k4r_data_provider/data_provider/data-folder.
Depending on what you like to do you have different options:
To download data from the platform and store it for later use you can utilize the CLI. To see the usage for the CLI type k4r_data_provider -h after installation.
To connect to the K4R-Platform you need to have a certificate and a file containing the password for the certificate.
See test.bash for some example calls.
The K4R-data-provider is used provide the state of the environment to the knowledge base of the planning system in the K4R-planning docker container. Take a look at the K4R-planning docker environment for an example implementation.
You can run the tests locally using pytest.
Please use the issue tracker to submit bug reports and feature requests. Please use merge requests as described here to add/adapt functionality.
K4R-data-provider is distributed under the MIT license.
Andreas Bresser, andreas.bresser@dfki.de
Copyright 2022/2023, DFKI GmbH / Robotics Innovation Center