knowrob_tiago_dual

This repository contains a simple exame of a KnowRob 2.0 package that defines a simple ontology for a retail scenario at AIRLab Delft and a ROS node to control a simulation of the AIRLab tiago robot. It uses KnowRob to perform queries on the ontology and drive a simple sense-act control loop for a pick and place task.

Note:This repository is based on the example: https://github.com/ipa-hsd/knowrob_moveit

Installation

Follow KnowRob installation steps: https://github.com/knowrob/knowrob to install KnowRob in your ROS workspace.

Install robot simulation

Follow the instructions at https://gitlab.tudelft.nl/cor/ro47014/retail_store_lightweight_sim to install the simulation in your ROS workspace.

Clone knowrob_tiago_dual package in your workspace

cd <path/to/workspace/src>
git clone https://github.com/chcorbato/knowrob_tiago_dual
cd ..
source /opt/ros/melodic/setup.bash 
catkin b
source devel/setup.bash and build again

Usage

# Terminal 1
sudo systemctl start mongod.service
roslaunch knowrob knowrob.launch

# Terminal 2
$ rosrun knowrob_tiago_dual knowrob_tiago_dual

Debugging database and reasoning

A convenient method to debug what is going on in the KnowRob DB is to use rosprolog_commandline

rosrun rosprolog rosprolog_commandline.py