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doc:logging:beliefstate [2014/03/06 12:38] – [Running the belief state software] winklerdoc:logging:beliefstate [2015/04/22 07:10] (current) – [Running the belief state software] bbrieber
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 In order to install the belief state logging software, you need the following entries in your ''.rosinstall'' file: In order to install the belief state logging software, you need the following entries in your ''.rosinstall'' file:
 <code> <code>
- - git: {local-name: beliefstate, uri: 'https://github.com/fairlight1337/beliefstate.git'}+ - git: {local-name: semrec, uri: 'https://github.com/code-iai/semrec.git'}
  - git: {local-name: designator_integration, uri: 'https://github.com/code-iai/designator_integration.git'}  - git: {local-name: designator_integration, uri: 'https://github.com/code-iai/designator_integration.git'}
  - git: {local-name: iai_common_msgs, uri: 'https://github.com/code-iai/iai_common_msgs.git'}  - git: {local-name: iai_common_msgs, uri: 'https://github.com/code-iai/iai_common_msgs.git'}
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 <code> <code>
  - git: {local-name: iai_common_msgs, uri: 'https://github.com/code-iai/iai_common_msgs.git'}  - git: {local-name: iai_common_msgs, uri: 'https://github.com/code-iai/iai_common_msgs.git'}
- - git: {local-name: designator_integration_lisp, uri: 'https://github.com/code-iai/designator_integration_lisp.git'}+ - git: {local-name: designator_integration_lisp, uri: 'https://github.com/code-iai/designator_integration.git'}
  - git: {local-name: cram_bridge, uri: 'https://github.com/cram-code/cram_bridge.git'}  - git: {local-name: cram_bridge, uri: 'https://github.com/cram-code/cram_bridge.git'}
 +</code>
 +
 +For compiling the package beliefstate with catkin you need the package libconfig++8-dev installed.
 +<code>
 + sudo apt-get install libconfig++8-dev
 </code> </code>
  
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 When installed and compiled through ''catkin_make'', you should be able to run the belief state software using this command: When installed and compiled through ''catkin_make'', you should be able to run the belief state software using this command:
 <code bash> <code bash>
-$ rosrun beliefstate beliefstate+$ rosrun semrec semrec
 </code> </code>
 The software automatically looks for plugins in your ''${catkin_workspace}/devel/lib'' directory. The ''${catkin_workspace}'' directory is resolved by either trying the environmental variable ''${ROS_WORKSPACE}'' or parsing the first path in ''${ROS_PACKAGE_PATH}'', minus the ''src'' directory, or ''${CMAKE_PREFIX_PATH}'', minus the ''devel'' directory (in that order). The software automatically looks for plugins in your ''${catkin_workspace}/devel/lib'' directory. The ''${catkin_workspace}'' directory is resolved by either trying the environmental variable ''${ROS_WORKSPACE}'' or parsing the first path in ''${ROS_PACKAGE_PATH}'', minus the ''src'' directory, or ''${CMAKE_PREFIX_PATH}'', minus the ''devel'' directory (in that order).
  
-So, pratically, you don't need to configure anything. If you want a configuration different from the default one, look into the file ''config.cfg'' inside of the ''beliefstate'' directory. Besides extensive documentation, it holds options for most details you might want to change.+So, pratically, you don't need to configure anything. If you want a configuration different from the default one, look into the file ''[[doc:logging:beliefstate:config_file|config.cfg]]'' inside of the ''semrec'' directory. Besides extensive documentation, it holds options for most details you might want to change.
  
 Log files are by default saved into the directory structure in ''${HOME}/bs_experimental_data/'', followed by an indexed experiment directory. Log files are by default saved into the directory structure in ''${HOME}/bs_experimental_data/'', followed by an indexed experiment directory.
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 ===== Capabilities ===== ===== Capabilities =====
 The belief state logging software itself has no abilities itself except for message transportation and plugin loading. The capabilities available for logging are introduced by plugins, described in more detail [[doc:logging:plugins|here]]. The belief state logging software itself has no abilities itself except for message transportation and plugin loading. The capabilities available for logging are introduced by plugins, described in more detail [[doc:logging:plugins|here]].
 +
 +===== Tutorials =====
 +In order to interface with the logging infrastructure, a set of tutorials is available:
 +
 +  * [[doc:logging:tutorials-cpp|C++ Beliefstate Client Library]]