xxjunxx/knowrob_ameva

knowrob_ameva

Only tested on Ubuntu 18.04

Knowrob installation

required dependency

1. install ROS-Melodic https://wiki.ros.org/melodic/Installation/Ubuntu
2. install mongodb https://docs.mongodb.com/manual/tutorial/install-mongodb-on-ubuntu/
3. install swi-prolog https://www.swi-prolog.org/build/PPA.html
4. install mongo-c-driver http://mongoc.org/libmongoc/current/installing.html

build knowrob project

mkdir catkin_ws
cd catkin_ws
rosdep update
wstool init src
cd src
wstool merge https://raw.github.com/knowrob/knowrob/master/rosinstall/knowrob-base.rosinstall
wstool update
rosdep install --ignore-src --from-paths .
cd ~/catkin_ws
catkin_make 

Launch knowrob

Terminal One

1. make sure mongodbd is running
2. run following commands

cd catkin_ws
source devel/setup.bash
roslaunch knowrob knowrob.launch

Terminal Two

1. Two ways to start swi-prolog. Personally prefer the first way.

rosrun rosprolog rosprolog_commandline.py rosrun rosprolog rosprolog 2.launch swi-prolog and play with pre-defined predicate

cd catkin_ws
source devel/setup.bash
rosrun rosprolog rosprolog_commandline.py 
// or we can use this 
// should be able to use the prolog
tripledb_load('')  -  for parsing owl file, probably need to use absolute path
triple_tell(s,p,o) - It's similar to rdf_has or 
owl_has

Launch Knowrob

Install dependency

1. Install libwebsocket https://stackoverflow.com/questions/29470447/how-to-install-libwebsocket-library-in-linux sudo apt-get install libwebsockets-dev
2. Install protobuf https://gist.github.com/diegopacheco/cd795d36e6ebcd2537cd18174865887b

Run knowrob

1. Clone project in catkin_ws/src
2. build the package catkin_make knowrob_ameve
3. Two ways to load the package

//Method one:
rosrun rosprolog rosprolog_commandline.py
register_ros_package('knowrob').
//Method two:
rosrun rosprolog rosprolog knowrob_ameva