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tutorials:advanced:unreal [2019/05/16 13:58] – Added Roslaunch, Prerequisites, Installation, Performance hawkin | tutorials:advanced:unreal [2019/05/16 18:24] – files and usage description (started) hawkin | ||
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The bullet world is needed for visualization. The json_prolog node allows us to access information in KnowRob from CRAM. | The bullet world is needed for visualization. The json_prolog node allows us to access information in KnowRob from CRAM. | ||
- | ==== Initialization | + | ==== Usage and Code ==== |
+ | The following will describe what the different files and their functions do, when and how to use them and why they are needed. The explanation will follow the order files in the .asd file. It is separated into a usage and a files section. The usage section will focus on how to get everything | ||
+ | |||
+ | === Usage === | ||
+ | Before you load the package, navigate to the '' | ||
+ | |||
+ | Now you can load the '' | ||
+ | <code lisp> | ||
+ | CL-USER> | ||
+ | </ | ||
+ | |||
+ | To launch all the necessary components, simply execute: | ||
+ | <code lisp> | ||
+ | CL-USER> (kvr:: | ||
+ | </ | ||
+ | |||
+ | This will create a lisp ros node, clean up the belief-state, | ||
+ | |||
+ | === Code === | ||
+ | == mesh-list.lisp == | ||
+ | Contains a list of all the meshes which we want to spawn based on their locations in the semantic map. Some of them are commented out, e.g. walls, lamps and the objects we interact with, in order to keep the bullet world neat and clean. In unreal however, the walls and lamps are being spawned. We simply currently don't need them in bullet. | ||
+ | |||
+ | == mapping-urdf-semantic.lisp == | ||
+ | Mapps the urdf kitchen to the semantic map, since they differ in how some furniture is organized and called. | ||
+ | |||
+ | == init.lisp | ||
TODO | TODO | ||
+ | == queries.lisp == | ||
+ | TODO | ||
+ | == query-based-calculations.lisp == | ||
+ | TODO | ||
+ | == designator-integration.lisp == | ||
+ | TODO | ||
+ | == fetch-and-deliver-based-demo.lisp == | ||
+ | TODO | ||
==== Importing new episode data into MongoDB and KnowRob(Additional information) ==== | ==== Importing new episode data into MongoDB and KnowRob(Additional information) ==== | ||
In order for us to be able to query data for information, | In order for us to be able to query data for information, |