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| download [2013/01/07 08:03] – [KnowRob installation] tenorth | download [2013/02/28 16:03] – [Labeling tool for human activities] admin |
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| ====== KnowRob installation ====== | ====== KnowRob installation ====== |
| ~~NOTOC~~ | |
| KnowRob is available as part of the [[http://www.ros.org/|ROS robot middleware]] and has been part of the official ROS distribution since ROS Diamondback. Before installing KnowRob, you will need to have a working ROS installation following the instructions at [[http://www.ros.org/wiki/ROS/Installation]]. | KnowRob is available as part of the [[http://www.ros.org/|ROS robot middleware]] and has been part of the official ROS distribution since ROS Diamondback. Before installing KnowRob, you will need to have a working ROS installation following the instructions at [[http://www.ros.org/wiki/ROS/Installation]]. |
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| There are pre-built .deb packages for Ubuntu in the ROS repository. If you are using another platform or would like to modify the system, you can install KnowRob from source. Ubuntu Linux is the only supported platform, though other Linux distributions should work without problems. In principle, installation in MacOS and Windows should also be possible (at least all dependencies are available), but there is no support. If you succeed in installing the system on one of these platforms, please notify the KnowRob developers. | There are pre-built .deb packages for Ubuntu in the ROS repository. If you are using another platform or would like to modify the system, you can install KnowRob from source. Ubuntu Linux is the only officially supported platform, though other Linux distributions should work without problems. In principle, installation in MacOS and Windows should also be possible (at least all dependencies are available), but there is no support. If you succeed in installing the system on one of these platforms, please notify the KnowRob developers. |
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| ===== Installation from binary packages ===== | ===== Installation from binary packages ===== |
| ===== Installation from source ===== | ===== Installation from source ===== |
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| You can check out the KnowRob source code using | If you would like to install KnowRob from source, you can check out the code using |
| <code> | <code> |
| svn co http://code.in.tum.de/pubsvn/knowrob/tags/latest knowrob | svn co http://code.in.tum.de/pubsvn/knowrob/tags/latest knowrob |
| For Ubuntu, the //ias_common// stack is also available as .deb package. Further dependencies can be resolved using [[http://www.ros.org/wiki/rosdep|rosdep]] (for system dependencies) and [[http://www.ros.org/wiki/roslocate|roslocate]] (for dependencies on other ROS packages). If there are no rosdep rules for your platform, have a look at the rosdep.yaml file in the knowrob folder to see a list of programs that need to be installed. | For Ubuntu, the //ias_common// stack is also available as .deb package. Further dependencies can be resolved using [[http://www.ros.org/wiki/rosdep|rosdep]] (for system dependencies) and [[http://www.ros.org/wiki/roslocate|roslocate]] (for dependencies on other ROS packages). If there are no rosdep rules for your platform, have a look at the rosdep.yaml file in the knowrob folder to see a list of programs that need to be installed. |
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| ==== Compile the system ==== | ==== Compile the KnowRob stack ==== |
| If your ROS workspace is set up correctly (as you have verified with the //roscd// command) and if you have all dependencies installed, you can compile knowrob using the //rosmake// tool: | If your ROS workspace is set up correctly (as you have verified with the //roscd// command) and if you have all dependencies installed, you can compile knowrob using the //rosmake// tool: |
| <code> | <code> |
| </code> | </code> |
| |
| ====== Related tools and packages ====== | |
| |
| ==== CRAM ==== | ====== Add-on packages ====== |
| The [[http://www.ros.org/wiki/cram_core|Cognitive Robot Abstract Machine (CRAM)]] is a software toolbox for the design, the implementation, and the deployment of cognition-enabled autonomous robots performing everyday manipulation activities. KnowRob is used as knowledge base that provides the robot executive with question-answering capabilities. | |
| |
| ==== RoboEarth ==== | Several tools and additional packages exist that extend the core KnowRob stack with different kinds of functionality. While we try to keep the core stack as small and general-purpose as possible, the packages listed in the following sections provide more specific functionality. You can install the packages from the following repositories: |
| [[http://www.ros.org/wiki/roboearth|RoboEarth]] is a European research project that investigates how robots can exchange knowledge via a web-based platform, similar to the way humans exchange knowledge via Wikipedia. KnowRob serves as local knowledge base on the robots, and representations from KnowRob are used for describing the exchanged information. | |
| |
| ==== ProbCog: statistical relational learning library ==== | ===== KnowRob tutorials ===== |
| | There are tutorials for different parts of the system in the [[doc|documentation section]]. The corresponding source code can be found here: |
| | git clone https://github.com/knowrob/knowrob_tutorials.git |
| | |
| | ===== Semantic Map editor ===== |
| | This [[http://www.ros.org/wiki/mod_semantic_map|graphical editor]] facilitates the creation and modification of semantic maps. Users can easily create, delete and modify object instances. |
| | git clone https://github.com/knowrob/knowrob_gui.git |
| |
| [[http://wwwbeetz.informatik.tu-muenchen.de/probcog-wiki|ProbCog]] is a statistical relational learning and reasoning system that supports efficient learning and inference in relational domains. It provides an extensive set of open-source tools for both undirected and directed statistical relational models. ProbCog can read evidence from KnowRob, and can be called from KnowRob via Prolog predicates. Have a look at the [[http://www.ros.org/wiki/mod_probcog|mod_probcog]] package for details on the interface. | ===== Import of natural-language Web instructions ===== |
| | The package [[http://www.ros.org/wiki/comp_ehow|comp_ehow]] provides methods for converting natural-language task instructions into the format used in KnowRob. It employs a combination of statistical parsing, disambiguation and ontological concept resolution. |
| | git clone https://github.com/knowrob/knowrob_addons.git |
| | |
| | ===== Simple dialog system ===== |
| | The [[http://tum-ros-pkg.svn.sourceforge.net/viewvc/tum-ros-pkg/knowledge/mod_dialog|mod_dialog]] package realizes a simple dialog system that allows interaction with the knowledge base using simplified natural language. Each question type is handled by a Java class that translates a natural-language string into a Prolog query and generates some natural-language output from the result. The package further contains a simple speech recognition node implemented using the [[http://cmusphinx.sourceforge.net|Sphinx speech recognizer]]. |
| | git clone https://github.com/knowrob/knowrob_addons.git |
| |
| ==== Semantic Map editor ==== | ===== Tools for analyzing observations of human activities ===== |
| This [[http://www.ros.org/wiki/mod_semantic_map|graphical editor]] facilitates the creation and modification of semantic maps. Users can easily create, delete and modify object instances. | A few tools for the analysis of observations (motion tracking data) of human activities can be found in the knowrob_human repository. While not as generally usable as the main KnowRob stack, it may be useful for some people. |
| | git clone https://github.com/knowrob/knowrob_human.git |
| |
| ==== Labeling tool for human activities ==== | |
| This [[https://github.com/knowrob/data_labeling_tool|GUI program]] facilitates the annotation of observations of human actions. It can load videos and sequences as still images and offers different options for creating annotations. As output, it can generate different annotation file formats that describe what the observed subject is doing. | |
| |
| ==== Import of natural-language Web instructions ==== | |
| The package [[http://www.ros.org/wiki/comp_ehow|comp_ehow]] provides methods for converting natural-language task instructions into the format used in KnowRob. It employs a combination of statistical parsing, disambiguation and ontological concept resolution. | |
| |
| ==== Simple dialog system ==== | ====== Related software ====== |
| The [[http://tum-ros-pkg.svn.sourceforge.net/viewvc/tum-ros-pkg/knowledge/mod_dialog|mod_dialog]] package realizes a simple dialog system that allows interaction with the knowledge base using simplified natural language. Each question type is handled by a Java class that translates a natural-language string into a Prolog query and generates some natural-language output from the result. The package further contains a simple speech recognition node implemented using the [[http://cmusphinx.sourceforge.net|Sphinx speech recognizer]]. | |
| | ===== CRAM ===== |
| | The [[http://www.ros.org/wiki/cram_core|Cognitive Robot Abstract Machine (CRAM)]] is a software toolbox for the design, the implementation, and the deployment of cognition-enabled autonomous robots performing everyday manipulation activities. KnowRob is used as knowledge base that provides the robot executive with question-answering capabilities. |
| | |
| | ===== RoboEarth ===== |
| | [[http://www.ros.org/wiki/roboearth|RoboEarth]] is a European research project that investigates how robots can exchange knowledge via a web-based platform, similar to the way humans exchange knowledge via Wikipedia. KnowRob serves as local knowledge base on the robots, and representations from KnowRob are used for describing the exchanged information. |
| | |
| | ===== ProbCog: statistical relational learning library ===== |
| | |
| | [[http://wwwbeetz.informatik.tu-muenchen.de/probcog-wiki|ProbCog]] is a statistical relational learning and reasoning system that supports efficient learning and inference in relational domains. It provides an extensive set of open-source tools for both undirected and directed statistical relational models. ProbCog can read evidence from KnowRob, and can be called from KnowRob via Prolog predicates. Have a look at the [[http://www.ros.org/wiki/mod_probcog|mod_probcog]] package for details on the interface. |
| | |
| | ===== Labeling tool for human activities ===== |
| | This [[labeling_tools|GUI program]] facilitates the annotation of observations of human actions. It can load videos and sequences as still images and offers different options for creating annotations. As output, it can generate different annotation file formats that describe what the observed subject is doing. |
| | git clone https://github.com/knowrob/data_labeling_tool.git |
| |
