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rosprolog_examples

Examples using rosprolog for the course RO47014 of the MSc. Robotics of the Delft University of Technology.

Installation

  • If you have a native ROS installation, you will need to install rosprolog (see KnowRob for instructions).
  • If you are using the Singularity image of the course RO47014
    • Make sure you have built your course ws with the singularity image ro47014-22-3.simg
    • Install KnowRob following the instructions in knowrob_intro step.
  • Clone this repository on your workspace and build it (do not forget to source your workspace after building it!).

Usage

You can test the examples by using the available launch files.

Using prolog in your ROS node in Python

For an example on loading a prolog module and using its predicates form your ROS node in Python, check src/example_query_prolog.py.

You can try it executing the following command:

roslaunch rosprolog_examples example_query_prolog.launch

Using an OWL ontology in your ROS node in Python

For an example of accessing the content of an OWL ontology from your ROS node in Python, check src/example_query_owl.py. It requires knowrob to load the ontology on the knowrob database, and then uses the tripledb library in the prolog queries to access the content of the ontology.

You can try it executing the following command:

roslaunch rosprolog_examples example_query_owl.launch