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[TUM-ros-pkg-commit] SF.net SVN: tum-ros-pkg:[951] knowledge/mod_semantic_map
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From: <tum...@li...> - 2011-06-08 08:17:27
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Revision: 951
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=951&view=rev
Author: moesenle
Date: 2011-06-08 08:17:21 +0000 (Wed, 08 Jun 2011)
Log Message:
-----------
Author: Lars Kunze <ku...@in...>
Date: Wed Jun 8 16:33:32 2011 +0900
commit b4d1d6e61c1c30e0133ecaf1c81eed6f2f7ecaa5
Author: Lars Kunze <ku...@in...>
Date: Wed Jun 8 16:16:17 2011 +0900
Added support for handling more object types and target IRI (namespace) for the generated map.
Basically all object types that are subclasses of SpatialThing-Localized can be used now. Since Knowrob's ontology is parsed to find all these subclasses, now the package depends on ias_knowledge_base.
The following command will print out a list of all valid object types:
% rosrun mod_semantic_map SemanticMapToOWL list
Please also note that object types are case-insensitive now, i.e., door, Door, DOOR will work.
The field frame_id in the Header msg can now be used for an IRI of the resulting map, e.g. 'http://www.example.com/my_map.owl#'
git-commit
Modified Paths:
--------------
knowledge/mod_semantic_map/manifest.xml
knowledge/mod_semantic_map/src/edu/tum/cs/ias/knowrob/SemanticMapToOWL.java
knowledge/mod_semantic_map/src/edu/tum/cs/ias/knowrob/SemanticMapToOWLTestClient.java
Modified: knowledge/mod_semantic_map/manifest.xml
===================================================================
--- knowledge/mod_semantic_map/manifest.xml 2011-06-01 13:33:44 UTC (rev 950)
+++ knowledge/mod_semantic_map/manifest.xml 2011-06-08 08:17:21 UTC (rev 951)
@@ -13,6 +13,7 @@
<url>http://ros.org/wiki/mod_semantic_map</url>
<depend package="rosjava" />
<depend package="geometry_msgs" />
+ <depend package="ias_knowledge_base" />
</package>
Modified: knowledge/mod_semantic_map/src/edu/tum/cs/ias/knowrob/SemanticMapToOWL.java
===================================================================
--- knowledge/mod_semantic_map/src/edu/tum/cs/ias/knowrob/SemanticMapToOWL.java 2011-06-01 13:33:44 UTC (rev 950)
+++ knowledge/mod_semantic_map/src/edu/tum/cs/ias/knowrob/SemanticMapToOWL.java 2011-06-08 08:17:21 UTC (rev 951)
@@ -1,16 +1,20 @@
package edu.tum.cs.ias.knowrob;
import java.io.*;
+import java.util.Collection;
import java.util.Date;
import java.util.ArrayList;
import java.util.HashMap;
import java.text.SimpleDateFormat;
+
import org.semanticweb.owlapi.apibinding.OWLManager;
import org.semanticweb.owlapi.io.RDFXMLOntologyFormat;
import org.semanticweb.owlapi.model.*;
import org.semanticweb.owlapi.util.DefaultPrefixManager;
import org.semanticweb.owlapi.vocab.PrefixOWLOntologyFormat;
+import org.semanticweb.owlapi.reasoner.*;
+import org.semanticweb.owlapi.reasoner.structural.*;
import ros.*;
import ros.pkg.mod_semantic_map.srv.*;
@@ -26,6 +30,7 @@
* as to retrieve object models from the database and add them to CoP.
*
* @author Moritz Tenorth, te...@cs...
+ * @author Lars Kunze, ku...@cs...
*
*/
@@ -47,43 +52,49 @@
// Base IRI for semantic map ontology
public final static String IAS_MAP = "http://ias.cs.tum.edu/kb/ccrl2_semantic_map.owl#";
+
+ // Ros package name for KnowRob
+ public final static String KNOWROB_PKG = "ias_knowledge_base";
+ // OWL file of the KnowRob ontology (relative to KNOWROB_PKG)
+ public final static String KNOWROB_OWL = "owl/knowrob.owl";
// Prefix manager
public final static DefaultPrefixManager PREFIX_MANAGER = new DefaultPrefixManager(IAS_MAP);
static {
PREFIX_MANAGER.setPrefix("knowrob:", KNOWROB);
PREFIX_MANAGER.setPrefix("ias_map:", IAS_MAP);
- PREFIX_MANAGER.setPrefix("owl:", OWL);
+ PREFIX_MANAGER.setPrefix("owl:", OWL);
PREFIX_MANAGER.setPrefix("rdfs:", RDFS);
}
// mapping ROS-KnowRob identifiers
protected static final HashMap<String, String> rosToKnowrob = new HashMap<String, String>();
- static {
- rosToKnowrob.put("cupboard", "knowrob:Cupboard");
- rosToKnowrob.put("drawer", "knowrob:Drawer");
- rosToKnowrob.put("oven", "knowrob:Oven");
- rosToKnowrob.put("refrigerator", "knowrob:Refrigerator");
- rosToKnowrob.put("dishwasher", "knowrob:Dishwasher");
- rosToKnowrob.put("table", "knowrob:Table");
- rosToKnowrob.put("countertop", "knowrob:CounterTop");
- rosToKnowrob.put("sink", "knowrob:Sink");
- rosToKnowrob.put("door", "knowrob:Door");
- rosToKnowrob.put("hinge", "knowrob:HingedJoint");
- rosToKnowrob.put("handle", "knowrob:Handle");
- rosToKnowrob.put("knob", "knowrob:ControlKnob");
+ // static {
+ // rosToKnowrob.put("cupboard", "knowrob:Cupboard");
+ // rosToKnowrob.put("drawer", "knowrob:Drawer");
+ // rosToKnowrob.put("oven", "knowrob:Oven");
+ // rosToKnowrob.put("refrigerator", "knowrob:Refrigerator");
+ // rosToKnowrob.put("dishwasher", "knowrob:Dishwasher");
+ // rosToKnowrob.put("table", "knowrob:Table");
+ // rosToKnowrob.put("countertop", "knowrob:CounterTop");
+ // rosToKnowrob.put("sink", "knowrob:Sink");
+ // rosToKnowrob.put("door", "knowrob:Door");
+ // rosToKnowrob.put("hinge", "knowrob:HingedJoint");
+ // rosToKnowrob.put("handle", "knowrob:Handle");
+ // rosToKnowrob.put("knob", "knowrob:ControlKnob");
- // TODO: add a concept for horizontal planes to knowrob
- rosToKnowrob.put("horizontal_plane", "knowrob:CounterTop");
- }
+ // // TODO: add a concept for horizontal planes to knowrob
+ // rosToKnowrob.put("horizontal_plane", "knowrob:CounterTop");
+ // }
HashMap<Integer, OWLNamedIndividual> idToInst;
OWLDataFactory factory;
OWLOntologyManager manager;
DefaultPrefixManager pm;
-
+
+
int inst_counter=0; // counter to create unique instance identifiers
////////////////////////////////////////////////////////////////////////////////
@@ -104,8 +115,10 @@
* @param n the node handle
* @throws RosException if advertising ROS services failed
*/
- public SemanticMapToOWL() {
+ public SemanticMapToOWL() {
+ initRosToKnowrob();
+
idToInst = new HashMap<Integer, OWLNamedIndividual>();
try {
@@ -120,7 +133,69 @@
}
}
+
+ /**
+ * Initialization of the mapping between object types that are send via
+ * the ros service and concepts of the KnowRob ontology.
+ */
+ protected static void initRosToKnowrob() {
+
+ //OWLOntology ont = manager.loadOntology(IRI.create(KNOWROB));
+ try {
+ // Create ontology manager, data factory, and prefix manager
+ OWLOntologyManager manager = OWLManager.createOWLOntologyManager();
+ OWLDataFactory factory = manager.getOWLDataFactory();
+ DefaultPrefixManager pm = PREFIX_MANAGER;
+
+ // Find ros package holding the knowrob ontology
+ String knowrob_pkg = rospackFind(KNOWROB_PKG);
+ String knowrob_owl = knowrob_pkg + "/" + KNOWROB_OWL;
+
+ //System.out.println("Path to Knowrob: " + knowrob_owl);
+
+ // Load the knowrob ontology
+ OWLOntology ont = manager.loadOntologyFromOntologyDocument(new File(knowrob_owl));
+
+ // Retrieve only subclasses of SpatialThing-Localized
+ OWLReasoner reasoner = new StructuralReasoner(ont, new SimpleConfiguration(), BufferingMode.NON_BUFFERING);
+ OWLClass spatialThing = factory.getOWLClass("knowrob:SpatialThing-Localized", pm);
+ NodeSet<OWLClass> ns = reasoner.getSubClasses(spatialThing, false);
+
+ java.util.Set<Node<OWLClass>> set = ns.getNodes();
+
+ // Iterate over all subclasses and put them into the mapping hashmap
+ for(Node n : set) {
+ OWLClass c = (OWLClass) n.getRepresentativeElement();
+
+ String iri = c.toStringID().replaceAll(KNOWROB, "knowrob:");
+ String key = c.toStringID().substring(c.toStringID().lastIndexOf('#') + 1).toLowerCase();
+
+ //System.out.println(key + " - " + iri);
+ rosToKnowrob.put(key, iri);
+ }
+ // to support backward compability (should be removed)
+ rosToKnowrob.put("hinge", "knowrob:HingedJoint");
+ rosToKnowrob.put("knob", "knowrob:ControlKnob");
+ rosToKnowrob.put("horizontal_plane", "knowrob:CounterTop");
+
+ //System.out.println("Number of supported object types: " + rosToKnowrob.size());
+ }
+ catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ protected static void printObjectTypes() {
+
+ Collection c = rosToKnowrob.values();
+
+ for(Object o : c) {
+ System.out.println(((String)o).replaceAll("knowrob:",""));
+ }
+
+ }
+
/**
* Thread-safe ROS initialization
@@ -174,7 +249,18 @@
OWLOntology ontology = null;
idToInst.clear();
try {
-
+
+ // Get iri of target map from the frame_id of header msg
+ String map_id = ros_map.header.frame_id.toString();
+ if (map_id.length() != 0) {
+ // use provided map_id
+ PREFIX_MANAGER.setPrefix("ias_map:", map_id);
+ } else {
+ //use IAS_MAP as default, PREFIX_MANAGER ist set by default
+ map_id = IAS_MAP;
+ }
+ System.out.println("Using map id: " + map_id);
+
// Create ontology manager and data factory
manager = OWLManager.createOWLOntologyManager();
factory = manager.getOWLDataFactory();
@@ -183,7 +269,7 @@
pm = PREFIX_MANAGER;
// Create empty OWL ontology
- ontology = manager.createOntology(IRI.create(IAS_MAP));
+ ontology = manager.createOntology(IRI.create(map_id));
manager.setOntologyFormat(ontology, new RDFXMLOntologyFormat());
// Import KnowRob ontology
@@ -191,21 +277,19 @@
AddImport addImp = new AddImport(ontology,oid);
manager.applyChange(addImp);
-
// create SemanticMap object in the ontology
createSemMapInst(ontology);
// create time point
OWLNamedIndividual time_inst = createTimePointInst(ros_map.header.stamp, ontology);
-
-
+
// iterate over all objects and create the respective OWL representations
for(SemMapObject ros_obj : ros_map.objects) {
createObjectDescription(ros_obj, time_inst, ontology);
}
SimpleDateFormat sdf = new SimpleDateFormat("yy-MM-dd_HH-mm-ss-SSS");
- String outfile = "ias_semantic_map_"+sdf.format(new Date())+".owl";
+ String outfile = "semantic_map_"+sdf.format(new Date())+".owl";
saveOntologyToFile(ontology, outfile);
} catch (Exception e) {
@@ -289,11 +373,12 @@
protected OWLNamedIndividual createObjectInst(SemMapObject ros_obj, OWLOntology ontology) {
// create object instance
- OWLClass obj_class = factory.getOWLClass(rosToKnowrob.get(ros_obj.type), pm);
+ OWLClass obj_class = factory.getOWLClass(rosToKnowrob.get(ros_obj.type.toLowerCase()), pm);
OWLNamedIndividual obj_inst = factory.getOWLNamedIndividual(
- instForClass(rosToKnowrob.get(ros_obj.type)), pm);
- manager.addAxiom(ontology, factory.getOWLClassAssertionAxiom(obj_class, obj_inst));
+ instForClass(rosToKnowrob.get(ros_obj.type.toLowerCase())), pm);
+ manager.addAxiom(ontology, factory.getOWLClassAssertionAxiom(obj_class, obj_inst));
+
// set object dimensions
OWLDataProperty width = factory.getOWLDataProperty("knowrob:widthOfObject", pm);
OWLDataProperty depth = factory.getOWLDataProperty("knowrob:depthOfObject", pm);
@@ -310,22 +395,22 @@
if(parent!=null) {
// select linking property based on the object type
- if(ros_obj.type.equals("cupboard") ||
- ros_obj.type.equals("drawer") ||
- ros_obj.type.equals("oven") ||
- ros_obj.type.equals("refrigerator") ||
- ros_obj.type.equals("dishwasher") ||
- ros_obj.type.equals("table") ||
- ros_obj.type.equals("countertop") ||
- ros_obj.type.equals("horizontal_plane") ||
- ros_obj.type.equals("sink")) {
-
+ if(ros_obj.type.equalsIgnoreCase("cupboard") ||
+ ros_obj.type.equalsIgnoreCase("drawer") ||
+ ros_obj.type.equalsIgnoreCase("oven") ||
+ ros_obj.type.equalsIgnoreCase("refrigerator") ||
+ ros_obj.type.equalsIgnoreCase("dishwasher") ||
+ ros_obj.type.equalsIgnoreCase("table") ||
+ ros_obj.type.equalsIgnoreCase("countertop") ||
+ ros_obj.type.equalsIgnoreCase("horizontal_plane") ||
+ ros_obj.type.equalsIgnoreCase("sink")) {
+
// top-level object, link to map
OWLObjectProperty describedInMap = factory.getOWLObjectProperty("knowrob:describedInMap", pm);
manager.addAxiom(ontology, factory.getOWLObjectPropertyAssertionAxiom(describedInMap, obj_inst, parent));
- } else if(ros_obj.type.equals("door")) {
+ } else if(ros_obj.type.equalsIgnoreCase("door")) {
// doors are both part of parent and hinged to it
OWLObjectProperty properPhysicalParts = factory.getOWLObjectProperty("knowrob:properPhysicalParts", pm);
@@ -366,7 +451,7 @@
instForClass("ias_map:RotationMatrix3D"), pm);
manager.addAxiom(ontology, factory.getOWLClassAssertionAxiom(pose_class, pose_inst));
- System.out.println("\n\n"+ros_obj.id + " " + ros_obj.type);
+ System.out.println("\n\n"+ros_obj.id + " " + ros_obj.type + " - " + rosToKnowrob.get(ros_obj.type.toLowerCase()));
// set pose properties
for(int i=0;i<4;i++) {
@@ -421,7 +506,7 @@
* @return Instance identifier (class string plus index)
*/
protected String instForClass(String cl) {
- cl.replaceAll("knorob", "ias_map");
+ cl = cl.replaceAll("knowrob", "ias_map");
return cl+(inst_counter++);
}
@@ -587,6 +672,33 @@
return ok;
}
+ /**
+ * Finds a ros package using rospack and returns its path.
+ * @param name of the ros package
+ * @return path to the package - if it was found<br>
+ * <tt>null</tt> - otherwise
+ */
+ public static String rospackFind(String pkg) {
+
+ String path = null;
+ try
+ {
+ Process p = Runtime.getRuntime().exec("rospack find " + pkg);
+ p.waitFor();
+ BufferedReader br = new BufferedReader(new InputStreamReader(p.getInputStream()));
+
+ if ((path = br.readLine()) != null){
+ ;//System.out.println("Package: " + pkg + ", Path: " + path);
+ }
+ else
+ ;//System.out.println("Package: " + pkg + ", Error: package not found!");
+ }
+ catch (Exception e)
+ {
+ e.printStackTrace();
+ }
+ return path;
+ }
//
@@ -597,9 +709,22 @@
public static void main(String[] args) {
-
- new SemanticMapToOWL();
-
+
+
+ if (args.length == 0) {
+ // run service
+ new SemanticMapToOWL();
+ } else if (args.length == 1 && args[0].equals("list")){
+ initRosToKnowrob();
+ printObjectTypes();
+ } else {
+ System.out.println("usage: rosrun mod_semantic_map SemanticMapToOWL");
+ System.out.println("Commands:");
+ System.out.println(" rosrun mod_semantic_map SemanticMapToOWL Runs the service");
+ System.out.println(" rosrun mod_semantic_map SemanticMapToOWL list Show supported object types");
+ System.out.println();
+ }
+
}
Modified: knowledge/mod_semantic_map/src/edu/tum/cs/ias/knowrob/SemanticMapToOWLTestClient.java
===================================================================
--- knowledge/mod_semantic_map/src/edu/tum/cs/ias/knowrob/SemanticMapToOWLTestClient.java 2011-06-01 13:33:44 UTC (rev 950)
+++ knowledge/mod_semantic_map/src/edu/tum/cs/ias/knowrob/SemanticMapToOWLTestClient.java 2011-06-08 08:17:21 UTC (rev 951)
@@ -44,13 +44,14 @@
GenerateSemanticMapOWL.Request req = new GenerateSemanticMapOWL.Request();
req.map= new SemMap();
- req.map.header.frame_id="/map";
+ // Set the IRI for the map that will be created
+ req.map.header.frame_id="http://www.example.com/foo.owl#";
req.map.header.stamp=ros.now();
// req.map.objects = new SemMapObject[4];
// create cupboard
- req.map.objects.add(new SemMapObject());
+ req.map.objects.add(new SemMapObject());
req.map.objects.get(0).id=1;
req.map.objects.get(0).partOf=0;
req.map.objects.get(0).type="cupboard";
@@ -67,7 +68,7 @@
req.map.objects.add(new SemMapObject());
req.map.objects.get(1).id=2;
req.map.objects.get(1).partOf=1;
- req.map.objects.get(1).type="door";
+ req.map.objects.get(1).type="Door";
req.map.objects.get(1).depth = 0.6f;
req.map.objects.get(1).width = 60.7f;
@@ -81,7 +82,7 @@
req.map.objects.add(new SemMapObject());
req.map.objects.get(2).id=3;
req.map.objects.get(2).partOf=2;
- req.map.objects.get(2).type="hinge";
+ req.map.objects.get(2).type="HINGEDJOINT";
req.map.objects.get(2).depth = 5.6f;
req.map.objects.get(2).width = 0.7f;
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