Only released in EOL distros:   electric fuerte groovy

Installation

Besides common ROS stacks, the knowrob stack depends on the stack ias_common. To install it, check out the following two repositories:

git clone http://code.in.tum.de/git/ias-common.git ias_common
svn co http://code.in.tum.de/pubsvn/knowrob/tags/latest knowrob

Both stacks are also available as deb packages.

News

• The FAQ has been updated (Nov. 1st, 2012)

• Please also have a look at the archive of KnowRob questions on answers.ros.org, several beginner questions have been answered there lately (Nov. 1st, 2012)

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

  • srldb: Package with the ProbCog library

• Related packages:

  • comp_ehow: Import of natural-language web instructions, removed from KnowRob to reduce dependencies

Some further documentation can be found here: http://ias.in.tum.de/kb/wiki/

Tutorials

A longer KnowRob tutorial was part of the CoTeSys ROS Fall School in November 2010 in Munich. The lecture material and example code can be found at http://www.ros.org/wiki/Events/CoTeSys-ROS-School/Day5 . The example code may be slightly outdated though.

More tutorials can be found in the KnowRob wiki:

• Getting started

• Reasoning about objects

• Reasoning about actions

• Calling computables

• Defining computables

• Exchanging information via RoboEarth

• Commonsense reasoning about object locations

White papers

The following pages provide some introduction into conceptual aspects and the way different things are modeled in the system.

• Important concepts

• High-level overview of the KnowRob taxonomy

• Modeling tasks and actions

• Representing perceived objects and changes in object poses over time

• Modeling changing objects

• Representation of map information

• Units of measure

• Coordinate systems

Publications

Currently, 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 https://ias.in.tum.de/research/knowledge

When you publish a paper using KnowRob, please cite the original paper at IROS 2009

@InProceedings{tenorth09knowledge,
  author  = {Moritz Tenorth and Michael Beetz},
  title = {{KnowRob -- Knowledge Processing for Autonomous Personal Robots}},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4261--4266},
  year = {2009}
}

Acknowledgments

The development of KnowRob has partly been funded by the DFG excellence initiative research cluster Cognition for Technical Systems (CoTeSys) and the EU FP7 projects RoboEarth and RoboHow.