RoboSherlock components for Refills

This package implements query-answering based perception for the refills scenario; It modifies the default query interface of RoboSherlock to handle perception tasks that last longer using the scan keyword;

Dependencies:

• robosherlock
• rs_kbreasoning

Running(launch file comming soon):

roslaunch rs_refills rs_refills_with_json_prolog.launch

Launches RoboSherlock node and json prolog;

Querying:

Query language description

Key	Description	Values
type	The type of object you want to detect	[shelf, KnowRob object class]
location	the semantic location you want to perform the perception task at	[shelf_system_0, shelf_system_1, ...]
command	the command that you watn to send (useful for asynch perception tasks that take longer to execut and need starting and stopping	start - start the task stop - stop the task
pose_stamped	pose of separator as in: "pose_stamped":{"header":{"frame_id":"map"},"pose":{"position":{"x":-0.96,"y":0.42,"z":1.41},"orientation":{"x":0.0,"y":0.0,"z":0.0,"w":1.0}}}
shelf_type	specify the shelf_type: hanging or standing (important for counting)

Query examples

Start scanning a shelf_system for shelves:

rosservice call /RoboSherlock_presentation/json_query "query: '{\"scan\":{\"type\":\"shelf\",\"command\":\"start\", "location\":\"shelf_system_1\"}}'"

Returns empty string

Stop scanning:

rosservice call /RoboSherlock_presentation/json_query "query: '{\"scan\":{\"type\":\"shelf\",\"command\":\"stop\", \"location\":\"shelf_system_1\"}}'"

Returns a vector of object descritions. Each object description is a json string, e.g.:

{
   "timestamp":1520355438.2960196,
   "id":"0",
   "class":{
      "confidence":0.0,
      "source":"ShelfDetector",
      "name":"0"
   },
   "poses":[
      {
         "source":"ShelfDetector",
         "pose_stamped":{
            "header":{
               "seq":0,
               "stamp":{
                  "sec":1520355438,
                  "nsec":296019620
               },
               "frame_id":"map"
            },
            "pose":{
               "position":{
                  "x":-0.9697583913803101,
                  "y":0.4238448441028595,
                  "z":1.4172399044036866
               },
               "orientation":{
                  "x":0.0,
                  "y":0.0,
                  "z":0.0,
                  "w":1.0
               }
            }
         }
      }
   ]
}

Count an object

    {"detect":{
         "type":"ProductWithAN046088",
         "pose_stamped":{
                     "header":{"frame_id":"some_tf_frame"},
                     "pose"  :{"position":{"x":0.65,"y":-0.57,"z":0.58}
                    }
            },
         "shelf_type":"standing", 
         "width":0.23,
         "location":"tf_frame_of_shelf_meter"
     }

Right now it will return a vector of size equal to the number of objects it has found. Empty vector otherwise. Will be extended to perform a check for the correct object.