Installation
Please refer to the installation instructions here: http://www.knowrob.org/installation
Documentation and Package List
- Starting and accessing Prolog
rosprolog: Start an interactive Prolog shell
json_prolog: Start ROS service that offers a query interface
- Base system
ias_knowledge_base: Core ontology and basic reasoning modules
knowrob_common: Common utilities for handling OWL (import/export, OWL reasoner interface, convenience query predicates), units of measure, and other generic functionality
knowrob_objects: Object-related functionality, supporting spatio-temporal reasoning, generation of the internal object representation, representation and conversion of coordinates
knowrob_actions: Read action properties, project effects of actions and processes, reason about transformations of objects induced by actions
ias_semantic_map: Semantic environment map representation in OWL
ias_prolog_addons: Prolog extensions such as the interface to the Weka and Mallet classification libraries, Jython interface, computation of semantic similarity measures between concepts
semweb: Semantic Web library of SWI prolog with extensions, e.g. computable properties
thea: OWL parser library
- Reasoning packages
comp_spatial: Compute qualitative spatial relations from object poses
comp_temporal: Compute temporal relations, e.g. Allen's interval algebra
mod_vis: Visualization of the content of the knowledge base
knowrob_cad_models: Load Collada models for visualization and reasoning
mod_srdl: Description of robot components and capabilities and methods for matching these descriptions against requirements of actions
mod_probcog: Interface to the ProbCog statistical relational learning library
- Interfaces to perception components
prolog_perception: (deprecated) Integration of perception using a Prolog module
comp_cop: Interface to the CoP perception system
knowrob_objects: Generic library for creating the KnowRob-internal object representation
- Probabilistic reasoning
- Related packages:
Further documentation can be found here: http://www.knowrob.org/doc
Tutorials
More tutorials can be found in the extensive documentation section of the KnowRob wiki.
Issue tracker
Please file bugs and feature requests here: https://github.com/knowrob/knowrob/issues
Publications
The most comprehensive overview of the KnowRob system and related research can be found in Moritz Tenorth's PhD thesis. The full list of KnowRob-related publications is available at http://www.knowrob.org/publications
When you publish a paper using KnowRob, please cite the 2013 IJRR article:
@Article{tenorth13knowrob, author = {Moritz Tenorth and Michael Beetz}, title = {{KnowRob -- A Knowledge Processing Infrastructure for Cognition-enabled Robots. Part 1: The KnowRob System}}, journal = {International Journal of Robotics Research (IJRR)}, year = {2013}, volume = {32}, number = {5}, pages = {566 -- 590}, month = {April}, year = {2013} }
Acknowledgments
The development of KnowRob has received funding from the DFG excellence initiative research cluster Cognition for Technical Systems (CoTeSys) and the EU FP7 projects RoboEarth and RoboHow.