knowrob_poller

A node which repeatedly polls knowrob for a comment about a robot's last and pushes this out over ROS.

Installation

The installation requires the knowrob and knowrob_addons stacks. Compiling them from source can take a bit time. Here is how to do it using catkin_make, assuming you have a workspace set up at ~/catkin_ws/src:

rosdep update
cd ~/catkin_ws/src
wstool merge https://raw.githubusercontent.com/code-iai/knowrob_poller/master/rosinstall/rosinstall
wstool update
rosdep install --ignore-src --from-paths .
cd ~/catkin_ws
catkin_make

Running

You first need to start a Knowrob with the package knowrob_robohow loaded. For testing you can do this:

roslaunch knowrob_robohow knowrob_robohow.launch

Then, you can start the polling node:

roslaunch knowrob_poller knowrob_poller.launch

The poller will then publish its results over 2 topics:

• ~message (std_msgs/String): A semi-intelligent phrase which the robot wants to utter about something that happens.
• ~point (geometry_msgs/PointStamped): A point where the robot wants to point to support its speech-act.

For testing with a knowrob server without any asserted facts, use the latter launch-file with the parameter dummmy_mode:=true