diff --git a/CMakeLists.txt b/CMakeLists.txt deleted file mode 100644 index 000d306..0000000 --- a/CMakeLists.txt +++ /dev/null @@ -1,50 +0,0 @@ -cmake_minimum_required(VERSION 2.4.6) -include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) - -rosbuild_init() - -file(GLOB def_files ${CMAKE_CURRENT_SOURCE_DIR}/defs/*.xml - ${CMAKE_CURRENT_SOURCE_DIR}/robots/*groups*.xml) - -file(GLOB xacros ${CMAKE_CURRENT_SOURCE_DIR}/robots/*.urdf.xml) - -rosbuild_find_ros_package(xacro) - -set(outfiles "") - -foreach( _xacro ${xacros} ) - string(REPLACE ".urdf." ".expanded." _outfile ${_xacro}) - add_custom_command( - OUTPUT ${_outfile} - COMMAND ${xacro_PACKAGE_PATH}/xacro.py - ARGS ${_xacro} > ${_outfile} - DEPENDS ${_xacro} ${def_files}) - list(APPEND outfiles ${_outfile}) -endforeach( _xacro) - - -rosbuild_find_ros_package(ias_knowledge_base) -rosbuild_include(rosprolog utils) - -set( OWL_PATH_PREFIX ${ias_knowledge_base_PACKAGE_PATH} ) -fix_ros_destination_path(OWL_PATH_PREFIX) - -file(GLOB inputs owl/*.in) - -foreach( _in ${inputs} ) - string(REPLACE ".in" "" _out ${_in}) - configure_file( ${_in} ${_out} ) -endforeach( _in ) - -# replace path to local OWL files -rosbuild_find_ros_package(iai_maps) -set( LOCAL_PACKAGE_PATH ${iai_maps_PACKAGE_PATH} ) -fix_ros_destination_path(LOCAL_PACKAGE_PATH) - -file(GLOB inputs prolog/*.in) -foreach( _in ${inputs} ) - string(REPLACE ".in" "" _out ${_in}) - configure_file( ${_in} ${_out} ) -endforeach( _in ) - -add_custom_target( expanded_defs ALL DEPENDS ${outfiles} ) diff --git a/Makefile b/Makefile deleted file mode 100644 index b75b928..0000000 --- a/Makefile +++ /dev/null @@ -1 +0,0 @@ -include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..1bfbaaa --- /dev/null +++ b/README.md @@ -0,0 +1,13 @@ +iai_maps +======== + +The semantic and ground lab and environment maps for projects in the IAI group in the University of Bremen. + +The maps have been split into several packages: + + * iai_maps: 2D maps for localization + -> formerly subfolders 'maps', 'launch' + * iai_kitchen_defs: URDF model of the kitchen + -> formerly subfolders 'defs', 'room', 'Media' + * iai_semantic_map: Semantic OWL map of the kitchen + -> formerly subfolders 'prolog', 'owl' diff --git a/iai_kitchen_defs/CMakeLists.txt b/iai_kitchen_defs/CMakeLists.txt new file mode 100644 index 0000000..2b8ef08 --- /dev/null +++ b/iai_kitchen_defs/CMakeLists.txt @@ -0,0 +1,9 @@ + +cmake_minimum_required(VERSION 2.8.3) +project(iai_kitchen_defs) + +find_package(catkin REQUIRED COMPONENTS xacro) + +catkin_package( + DEPENDS xacro +) diff --git a/Media/materials/scripts/LAB.material b/iai_kitchen_defs/Media/materials/scripts/LAB.material similarity index 100% rename from Media/materials/scripts/LAB.material rename to iai_kitchen_defs/Media/materials/scripts/LAB.material diff --git a/Media/materials/textures/auf_saeule_bei_shop.png b/iai_kitchen_defs/Media/materials/textures/auf_saeule_bei_shop.png similarity index 100% rename from Media/materials/textures/auf_saeule_bei_shop.png rename to iai_kitchen_defs/Media/materials/textures/auf_saeule_bei_shop.png diff --git a/Media/materials/textures/cooking_plate.jpg b/iai_kitchen_defs/Media/materials/textures/cooking_plate.jpg similarity index 100% rename from Media/materials/textures/cooking_plate.jpg rename to iai_kitchen_defs/Media/materials/textures/cooking_plate.jpg diff --git a/Media/materials/textures/ganz_links_neben_roboterplakat.png b/iai_kitchen_defs/Media/materials/textures/ganz_links_neben_roboterplakat.png similarity index 100% rename from Media/materials/textures/ganz_links_neben_roboterplakat.png rename to iai_kitchen_defs/Media/materials/textures/ganz_links_neben_roboterplakat.png diff --git a/Media/materials/textures/ganz_links_vorn_bei_biolab.png b/iai_kitchen_defs/Media/materials/textures/ganz_links_vorn_bei_biolab.png similarity index 100% rename from Media/materials/textures/ganz_links_vorn_bei_biolab.png rename to iai_kitchen_defs/Media/materials/textures/ganz_links_vorn_bei_biolab.png diff --git a/Media/materials/textures/ganz_rechts_neben_kuecheninsel.png b/iai_kitchen_defs/Media/materials/textures/ganz_rechts_neben_kuecheninsel.png similarity index 100% rename from Media/materials/textures/ganz_rechts_neben_kuecheninsel.png rename to iai_kitchen_defs/Media/materials/textures/ganz_rechts_neben_kuecheninsel.png diff --git a/Media/materials/textures/hinter_shopschraenken_an_saeule.png b/iai_kitchen_defs/Media/materials/textures/hinter_shopschraenken_an_saeule.png similarity index 100% rename from Media/materials/textures/hinter_shopschraenken_an_saeule.png rename to iai_kitchen_defs/Media/materials/textures/hinter_shopschraenken_an_saeule.png diff --git a/Media/materials/textures/mittig_neben_roboterplakat.png b/iai_kitchen_defs/Media/materials/textures/mittig_neben_roboterplakat.png similarity index 100% rename from Media/materials/textures/mittig_neben_roboterplakat.png rename to iai_kitchen_defs/Media/materials/textures/mittig_neben_roboterplakat.png diff --git a/Media/materials/textures/sink.png b/iai_kitchen_defs/Media/materials/textures/sink.png similarity index 100% rename from Media/materials/textures/sink.png rename to iai_kitchen_defs/Media/materials/textures/sink.png diff --git a/Media/materials/textures/stove.png b/iai_kitchen_defs/Media/materials/textures/stove.png similarity index 100% rename from Media/materials/textures/stove.png rename to iai_kitchen_defs/Media/materials/textures/stove.png diff --git a/Media/materials/textures/wallpaper.png b/iai_kitchen_defs/Media/materials/textures/wallpaper.png similarity index 100% rename from Media/materials/textures/wallpaper.png rename to iai_kitchen_defs/Media/materials/textures/wallpaper.png diff --git a/Media/materials/textures/wallpaper2.png b/iai_kitchen_defs/Media/materials/textures/wallpaper2.png similarity index 100% rename from Media/materials/textures/wallpaper2.png rename to iai_kitchen_defs/Media/materials/textures/wallpaper2.png diff --git a/Media/materials/textures/wallpaper_ai_unihb.png b/iai_kitchen_defs/Media/materials/textures/wallpaper_ai_unihb.png similarity index 100% rename from Media/materials/textures/wallpaper_ai_unihb.png rename to iai_kitchen_defs/Media/materials/textures/wallpaper_ai_unihb.png diff --git a/Media/materials/textures/wallpaper_project_logos.png b/iai_kitchen_defs/Media/materials/textures/wallpaper_project_logos.png similarity index 100% rename from Media/materials/textures/wallpaper_project_logos.png rename to iai_kitchen_defs/Media/materials/textures/wallpaper_project_logos.png diff --git a/Media/models/cash_register.urdf.xml b/iai_kitchen_defs/Media/models/cash_register.urdf.xml similarity index 100% rename from Media/models/cash_register.urdf.xml rename to iai_kitchen_defs/Media/models/cash_register.urdf.xml diff --git a/Media/models/chair.urdf.xml b/iai_kitchen_defs/Media/models/chair.urdf.xml similarity index 100% rename from Media/models/chair.urdf.xml rename to iai_kitchen_defs/Media/models/chair.urdf.xml diff --git a/Media/models/cnc.urdf.xml b/iai_kitchen_defs/Media/models/cnc.urdf.xml similarity index 100% rename from Media/models/cnc.urdf.xml rename to iai_kitchen_defs/Media/models/cnc.urdf.xml diff --git a/Media/models/glasses.urdf.xml b/iai_kitchen_defs/Media/models/glasses.urdf.xml similarity index 100% rename from Media/models/glasses.urdf.xml rename to iai_kitchen_defs/Media/models/glasses.urdf.xml diff --git a/Media/models/meshes/Cash_Register.dae b/iai_kitchen_defs/Media/models/meshes/Cash_Register.dae similarity index 100% rename from Media/models/meshes/Cash_Register.dae rename to iai_kitchen_defs/Media/models/meshes/Cash_Register.dae diff --git a/Media/models/meshes/Cash_Register/cash_register_keys.jpg b/iai_kitchen_defs/Media/models/meshes/Cash_Register/cash_register_keys.jpg similarity index 100% rename from Media/models/meshes/Cash_Register/cash_register_keys.jpg rename to iai_kitchen_defs/Media/models/meshes/Cash_Register/cash_register_keys.jpg diff --git a/Media/models/meshes/Chair.dae b/iai_kitchen_defs/Media/models/meshes/Chair.dae similarity index 100% rename from Media/models/meshes/Chair.dae rename to iai_kitchen_defs/Media/models/meshes/Chair.dae diff --git a/Media/models/meshes/Chair/__Wood-cherry_.jpg b/iai_kitchen_defs/Media/models/meshes/Chair/__Wood-cherry_.jpg similarity index 100% rename from Media/models/meshes/Chair/__Wood-cherry_.jpg rename to iai_kitchen_defs/Media/models/meshes/Chair/__Wood-cherry_.jpg diff --git a/Media/models/meshes/cnc.dae b/iai_kitchen_defs/Media/models/meshes/cnc.dae similarity index 100% rename from Media/models/meshes/cnc.dae rename to iai_kitchen_defs/Media/models/meshes/cnc.dae diff --git a/Media/models/meshes/cnc/Metal_Aluminum_Anodized_.jpg b/iai_kitchen_defs/Media/models/meshes/cnc/Metal_Aluminum_Anodized_.jpg similarity index 100% rename from Media/models/meshes/cnc/Metal_Aluminum_Anodized_.jpg rename to iai_kitchen_defs/Media/models/meshes/cnc/Metal_Aluminum_Anodized_.jpg diff --git a/Media/models/meshes/cnc/Metal_Corrogated_Shiny_.jpg b/iai_kitchen_defs/Media/models/meshes/cnc/Metal_Corrogated_Shiny_.jpg similarity index 100% rename from Media/models/meshes/cnc/Metal_Corrogated_Shiny_.jpg rename to iai_kitchen_defs/Media/models/meshes/cnc/Metal_Corrogated_Shiny_.jpg diff --git a/Media/models/meshes/cnc/Metal_Rough_.jpg b/iai_kitchen_defs/Media/models/meshes/cnc/Metal_Rough_.jpg similarity 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iai_kitchen_defs/Media/models/meshes/test_glasses/Water_Sparkling_.jpg diff --git a/Media/models/meshes/wine_cooler.dae b/iai_kitchen_defs/Media/models/meshes/wine_cooler.dae similarity index 100% rename from Media/models/meshes/wine_cooler.dae rename to iai_kitchen_defs/Media/models/meshes/wine_cooler.dae diff --git a/Media/models/meshes/wine_cooler/__Blue_Glass_4.JPG b/iai_kitchen_defs/Media/models/meshes/wine_cooler/__Blue_Glass_4.JPG similarity index 100% rename from Media/models/meshes/wine_cooler/__Blue_Glass_4.JPG rename to iai_kitchen_defs/Media/models/meshes/wine_cooler/__Blue_Glass_4.JPG diff --git a/Media/models/meshes/wine_cooler/material_25.jpg b/iai_kitchen_defs/Media/models/meshes/wine_cooler/material_25.jpg similarity index 100% rename from Media/models/meshes/wine_cooler/material_25.jpg rename to iai_kitchen_defs/Media/models/meshes/wine_cooler/material_25.jpg diff --git a/Media/models/test_glasses.urdf.xml b/iai_kitchen_defs/Media/models/test_glasses.urdf.xml 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iai_kitchen_defs/defs/ias_kitchen/furniture_defs.xml diff --git a/defs/ias_kitchen/island_block.xml b/iai_kitchen_defs/defs/ias_kitchen/island_block.xml similarity index 100% rename from defs/ias_kitchen/island_block.xml rename to iai_kitchen_defs/defs/ias_kitchen/island_block.xml diff --git a/defs/ias_kitchen/materials.xml b/iai_kitchen_defs/defs/ias_kitchen/materials.xml similarity index 100% rename from defs/ias_kitchen/materials.xml rename to iai_kitchen_defs/defs/ias_kitchen/materials.xml diff --git a/defs/ias_kitchen/oven_block.xml b/iai_kitchen_defs/defs/ias_kitchen/oven_block.xml similarity index 100% rename from defs/ias_kitchen/oven_block.xml rename to iai_kitchen_defs/defs/ias_kitchen/oven_block.xml diff --git a/defs/ias_kitchen/shopping_block.xml b/iai_kitchen_defs/defs/ias_kitchen/shopping_block.xml similarity index 100% rename from defs/ias_kitchen/shopping_block.xml rename to iai_kitchen_defs/defs/ias_kitchen/shopping_block.xml diff --git a/defs/ias_kitchen/sink_block.xml b/iai_kitchen_defs/defs/ias_kitchen/sink_block.xml similarity index 100% rename from defs/ias_kitchen/sink_block.xml rename to iai_kitchen_defs/defs/ias_kitchen/sink_block.xml diff --git a/defs/ias_kitchen/small_table.xml b/iai_kitchen_defs/defs/ias_kitchen/small_table.xml similarity index 100% rename from defs/ias_kitchen/small_table.xml rename to iai_kitchen_defs/defs/ias_kitchen/small_table.xml diff --git a/defs/ias_kitchen/table.xml b/iai_kitchen_defs/defs/ias_kitchen/table.xml similarity index 100% rename from defs/ias_kitchen/table.xml rename to iai_kitchen_defs/defs/ias_kitchen/table.xml diff --git a/defs/util_defs.xml b/iai_kitchen_defs/defs/util_defs.xml similarity index 100% rename from defs/util_defs.xml rename to iai_kitchen_defs/defs/util_defs.xml diff --git a/iai_kitchen_defs/package.xml b/iai_kitchen_defs/package.xml new file mode 100644 index 0000000..9f042c8 --- /dev/null +++ b/iai_kitchen_defs/package.xml @@ -0,0 +1,17 @@ + + iai_kitchen_defs + 1.0.0 + URDF description of the kitchen laboratory of the IAI in Bremen + + Jan Winkler + + LGPL + + Jan Winkler + + catkin + + xacro + xacro + + diff --git a/room/allInOne.urdf.xml b/iai_kitchen_defs/room/allInOne.urdf.xml similarity index 100% rename from room/allInOne.urdf.xml rename to iai_kitchen_defs/room/allInOne.urdf.xml diff --git a/room/bio_area.urdf.xml b/iai_kitchen_defs/room/bio_area.urdf.xml similarity index 100% rename from room/bio_area.urdf.xml rename to iai_kitchen_defs/room/bio_area.urdf.xml diff --git a/room/cnc_area.urdf.xml b/iai_kitchen_defs/room/cnc_area.urdf.xml similarity index 100% rename from room/cnc_area.urdf.xml rename to iai_kitchen_defs/room/cnc_area.urdf.xml diff --git a/room/colorTest.urdf.xml b/iai_kitchen_defs/room/colorTest.urdf.xml similarity index 100% rename from room/colorTest.urdf.xml rename to iai_kitchen_defs/room/colorTest.urdf.xml diff --git a/room/kitchen_area.urdf.xml b/iai_kitchen_defs/room/kitchen_area.urdf.xml similarity index 100% rename from room/kitchen_area.urdf.xml rename to iai_kitchen_defs/room/kitchen_area.urdf.xml diff --git a/room/lab_macros.xml b/iai_kitchen_defs/room/lab_macros.xml similarity index 100% rename from room/lab_macros.xml rename to iai_kitchen_defs/room/lab_macros.xml diff --git a/room/room.urdf.xml b/iai_kitchen_defs/room/room.urdf.xml similarity index 100% rename from room/room.urdf.xml rename to iai_kitchen_defs/room/room.urdf.xml diff --git a/room/shopping_area.urdf.xml b/iai_kitchen_defs/room/shopping_area.urdf.xml similarity index 100% rename from room/shopping_area.urdf.xml rename to iai_kitchen_defs/room/shopping_area.urdf.xml diff --git a/room/test.urdf.xml b/iai_kitchen_defs/room/test.urdf.xml similarity index 100% rename from room/test.urdf.xml rename to iai_kitchen_defs/room/test.urdf.xml diff --git a/room/worktables.urdf.xml b/iai_kitchen_defs/room/worktables.urdf.xml similarity index 100% rename from room/worktables.urdf.xml rename to iai_kitchen_defs/room/worktables.urdf.xml diff --git a/iai_maps/CMakeLists.txt b/iai_maps/CMakeLists.txt new file mode 100644 index 0000000..1770d62 --- /dev/null +++ b/iai_maps/CMakeLists.txt @@ -0,0 +1,7 @@ + +cmake_minimum_required(VERSION 2.8.3) +project(iai_maps) + +find_package(catkin) + +catkin_package() diff --git a/launch/iai_maps.launch b/iai_maps/launch/iai_maps.launch similarity index 100% rename from launch/iai_maps.launch rename to iai_maps/launch/iai_maps.launch diff --git a/launch/iai_maps2.launch b/iai_maps/launch/iai_maps2.launch similarity index 100% rename from launch/iai_maps2.launch rename to iai_maps/launch/iai_maps2.launch diff --git a/launch/iai_maps_nogroundmap.launch b/iai_maps/launch/iai_maps_nogroundmap.launch similarity index 100% rename from launch/iai_maps_nogroundmap.launch rename to iai_maps/launch/iai_maps_nogroundmap.launch diff --git a/launch/iai_maps_restricted.launch b/iai_maps/launch/iai_maps_restricted.launch similarity index 100% rename from launch/iai_maps_restricted.launch rename to iai_maps/launch/iai_maps_restricted.launch diff --git a/iai_maps/launch/json.launch b/iai_maps/launch/json.launch new file mode 100644 index 0000000..51623f6 --- /dev/null +++ b/iai_maps/launch/json.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/launch/kitchen_with_state_publisher.launch b/iai_maps/launch/kitchen_with_state_publisher.launch similarity index 85% rename from launch/kitchen_with_state_publisher.launch rename to iai_maps/launch/kitchen_with_state_publisher.launch index 872c74f..59a4066 100644 --- a/launch/kitchen_with_state_publisher.launch +++ b/iai_maps/launch/kitchen_with_state_publisher.launch @@ -1,7 +1,7 @@ + iai_maps + 1.0.0 + Maps of the kitchen laboratory of the IAI in Bremen + + Jan Winkler + + LGPL + + Jan Winkler + + catkin + + diff --git a/iai_semantic_maps/CMakeLists.txt b/iai_semantic_maps/CMakeLists.txt new file mode 100644 index 0000000..27c6396 --- /dev/null +++ b/iai_semantic_maps/CMakeLists.txt @@ -0,0 +1,9 @@ + +cmake_minimum_required(VERSION 2.8.3) +project(iai_semantic_maps) + +find_package(catkin REQUIRED COMPONENTS comp_spatial) + +catkin_package( + DEPENDS comp_spatial +) diff --git a/iai_semantic_maps/owl/iai_maps_addons.owl b/iai_semantic_maps/owl/iai_maps_addons.owl new file mode 100644 index 0000000..f37b4ee --- /dev/null +++ b/iai_semantic_maps/owl/iai_maps_addons.owl @@ -0,0 +1,404 @@ + + + + + + + +]> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.1 + 0.1 + 0.1 + + + + + + + + + + + + + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.75 + 0.9 + 1.0 + 1.0 + 1.0 + 1.0 + 1.4 + + + + + + + + 0.1 + 0.1 + 0.1 + + + + + + + + + + + + + + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 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0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.85 + 1.0 + 1.0 + 1.656244 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iai_semantic_maps/package.xml b/iai_semantic_maps/package.xml new file mode 100644 index 0000000..1276232 --- /dev/null +++ b/iai_semantic_maps/package.xml @@ -0,0 +1,21 @@ + + iai_semantic_maps + 1.0.0 + Semantic maps of laboratories of the IAI in Bremen + + Moritz Tenorth + + LGPL + + http://www.ros.org/wiki/knowrob_map_data + https://github.com/knowrob/knowrob/issues + + Jan Winkler + Moritz Tenorth + + catkin + + comp_spatial + comp_spatial + + diff --git a/prolog/room.pl.in b/iai_semantic_maps/prolog/init.pl similarity index 57% rename from prolog/room.pl.in rename to iai_semantic_maps/prolog/init.pl index c5da479..6cc5335 100644 --- a/prolog/room.pl.in +++ b/iai_semantic_maps/prolog/init.pl @@ -1,5 +1,4 @@ -%% -%% Copyright (C) 2009 by Lars Kunze, Lorenz Moesenlechner, Moritz Tenorth +%% Copyright (C) 2013 by Moritz Tenorth, Jan Winkler %% %% This program is free software; you can redistribute it and/or modify %% it under the terms of the GNU General Public License as published by @@ -13,17 +12,11 @@ %% %% You should have received a copy of the GNU General Public License %% along with this program. If not, see . -%% -:- use_module(library('semweb/rdfs_computable')). -:- use_module(library('semweb/rdf_db')). -:- use_module(library('semweb/rdfs')). -:- use_module(library('thea/owl_parser')). -:- use_module(library('semweb/owl')). -:- use_module(library('semweb/rdf_edit')). -:- use_module(library('semweb/actionmodel')). -:- owl_parser:owl_parse('@LOCAL_PACKAGE_PATH@/owl/room.owl', false, false, true). +:- register_ros_package(knowrob_map_tools). +:- register_ros_package(knowrob_map_data). +:- register_ros_package(iai_maps). -:- rdf_db:rdf_register_ns(knowrob, 'http://ias.cs.tum.edu/kb/knowrob.owl#', [keep(true)]). :- rdf_db:rdf_register_ns(iai_maps, 'http://ias.cs.tum.edu/kb/room.owl#', [keep(true)]). + diff --git a/launch/iai_kitchen_in_rviz.launch b/launch/iai_kitchen_in_rviz.launch deleted file mode 100644 index 564c2ac..0000000 --- a/launch/iai_kitchen_in_rviz.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/launch/json.launch b/launch/json.launch deleted file mode 100644 index 61f6f9c..0000000 --- a/launch/json.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/mainpage.dox b/mainpage.dox deleted file mode 100644 index 6464eb7..0000000 --- a/mainpage.dox +++ /dev/null @@ -1,14 +0,0 @@ -/** -\mainpage -\htmlinclude manifest.html - -\b iai_maps - - - ---> - - -*/ diff --git a/manifest.xml b/manifest.xml deleted file mode 100644 index 2738bfc..0000000 --- a/manifest.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - iai_maps - - - Jan Winkler - BSD - - http://ros.org/wiki/iai_maps - - - - - - - - - - - - diff --git a/owl/iai_maps_addons.owl.in b/owl/iai_maps_addons.owl.in deleted file mode 100644 index a64034b..0000000 --- a/owl/iai_maps_addons.owl.in +++ /dev/null @@ -1,408 +0,0 @@ - - - - - - - - - - - -]> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- - - - - -1.0 - -1.0 - -1.05289 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.85 - 1.0 - 1.0 - 1.656244 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/prolog/iai_maps.pl b/prolog/iai_maps.pl deleted file mode 100644 index 9ec3ba5..0000000 --- a/prolog/iai_maps.pl +++ /dev/null @@ -1,58 +0,0 @@ -%% -%% Copyright (C) 2009 by Lars Kunze, Lorenz Moesenlechner, Moritz Tenorth -%% -%% This program is free software; you can redistribute it and/or modify -%% it under the terms of the GNU General Public License as published by -%% the Free Software Foundation; either version 3 of the License, or -%% (at your option) any later version. -%% -%% This program is distributed in the hope that it will be useful, -%% but WITHOUT ANY WARRANTY; without even the implied warranty of -%% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -%% GNU General Public License for more details. -%% -%% You should have received a copy of the GNU General Public License -%% along with this program. If not, see . -%% - -:- module(iai_maps, - [ - likely_qual_object_locations/3 - ]). - - -:- rdf_meta - likely_qual_object_locations(r,r,-). - - -%% likely_qual_object_locations(+ObjClass, -Loc, -Prob) is nondet. -% -% Compute likely object locations using the following schema: -% - If the system knows about an instance of the object class, it returns the -% container it is in or the surface it is on -% - If no instance can be found in the semantic map, the query returns results -% computed based on the semantic similarity to other objects and chooses the -% container or surface where the most similar objects can be found -% -% Prob is a pseudo-probability that is either '1' (if an instance is known) -% or describes the WUP similarity to the most similar object at that location -% -% see also Martin Schuster, Dominik Jain, Moritz Tenorth, Michael Beetz, -% "Learning Organizational Principles in Human Environments", -% In IEEE International Conference on Robotics and Automation (ICRA), -% St. Paul, MN, USA, 2012. -% -% @param ObjClass OWL identifier of an object class -% @param Loc OWL identifier of a container instance in the semantic map -% @param Prob Pseudo-probability of finding an object of type ObjClass at location Loc -% -likely_qual_object_locations(ObjClass, Loc, Prob) :- - - findall(ObjClass-Loc-Prob, ( - (owl_individual_of(ObjInst, ObjClass), - rdf_triple(knowrob:'in-ContGeneric', ObjInst, Loc), - Prob=1) ; - (best_location_maxMaxWup(ObjClass, Loc, Prob), Prob > 0) - ), Locs), - list_to_set(Locs, LocsUnique), - member(ObjClass-Loc-Prob, LocsUnique). diff --git a/prolog/iai_maps_addons.pl.in b/prolog/iai_maps_addons.pl.in deleted file mode 100644 index 837d3d2..0000000 --- a/prolog/iai_maps_addons.pl.in +++ /dev/null @@ -1,29 +0,0 @@ -%% -%% Copyright (C) 2009 by Lars Kunze, Lorenz Moesenlechner, Moritz Tenorth -%% -%% This program is free software; you can redistribute it and/or modify -%% it under the terms of the GNU General Public License as published by -%% the Free Software Foundation; either version 3 of the License, or -%% (at your option) any later version. -%% -%% This program is distributed in the hope that it will be useful, -%% but WITHOUT ANY WARRANTY; without even the implied warranty of -%% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -%% GNU General Public License for more details. -%% -%% You should have received a copy of the GNU General Public License -%% along with this program. If not, see . -%% - -:- use_module(library('semweb/rdfs_computable')). -:- use_module(library('semweb/rdf_db')). -:- use_module(library('semweb/rdfs')). -:- use_module(library('thea/owl_parser')). -:- use_module(library('semweb/owl')). -:- use_module(library('semweb/rdf_edit')). -:- use_module(library('semweb/actionmodel')). - -:- owl_parser:owl_parse('@LOCAL_PACKAGE_PATH@/owl/iai_maps_addons.owl', false, false, true). - -:- rdf_db:rdf_register_ns(knowrob, 'http://ias.cs.tum.edu/kb/knowrob.owl#', [keep(true)]). -:- rdf_db:rdf_register_ns(iai_maps_addons, 'http://ias.cs.tum.edu/kb/iai_maps_addons.owl#', [keep(true)]). diff --git a/prolog/init.pl.in b/prolog/init.pl.in deleted file mode 100644 index a6354d8..0000000 --- a/prolog/init.pl.in +++ /dev/null @@ -1,48 +0,0 @@ -%% Copyright (C) 2013 by Moritz Tenorth, Jan Winkler -%% -%% This program is free software; you can redistribute it and/or modify -%% it under the terms of the GNU General Public License as published by -%% the Free Software Foundation; either version 3 of the License, or -%% (at your option) any later version. -%% -%% This program is distributed in the hope that it will be useful, -%% but WITHOUT ANY WARRANTY; without even the implied warranty of -%% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -%% GNU General Public License for more details. -%% -%% You should have received a copy of the GNU General Public License -%% along with this program. If not, see . - -:- register_ros_package(iai_maps). - -:- register_ros_package(comp_spatial). -:- use_module(library('comp_spatial')). - -:- register_ros_package(semweb). -:- use_module(library('semweb/rdfs_computable')). -:- use_module(library('semweb/rdf_db')). -:- use_module(library('semweb/rdfs')). -:- use_module(library('thea/owl_parser')). -:- use_module(library('semweb/owl')). -:- use_module(library('semweb/rdf_edit')). -:- use_module(library('semweb/actionmodel')). - -% :- register_ros_package(ias_semantic_map). -% :- use_module(library('ias_semantic_map')). -:- use_module(library('semantic_map_utils')). - -:- register_ros_package(knowrob_cad_models). -:- register_ros_package(knowrob_cad_parser). - -:- register_ros_package(comp_orgprinciples). -:- use_module(library('comp_orgprinciples')). - -:- owl_parser:owl_parse('@LOCAL_PACKAGE_PATH@/owl/room.owl', false, false, true). -:- owl_parser:owl_parse('@LOCAL_PACKAGE_PATH@/owl/iai_maps_addons.owl', false, false, true). - -:- rdf_db:rdf_register_ns(knowrob, 'http://ias.cs.tum.edu/kb/knowrob.owl#', [keep(true)]). -:- rdf_db:rdf_register_ns(iai_maps, 'http://ias.cs.tum.edu/kb/room.owl#', [keep(true)]). - -:- use_module(library(iai_maps)). -:- consult('iai_maps_addons'). - diff --git a/prolog/semantic_map_utils.pl b/prolog/semantic_map_utils.pl deleted file mode 100644 index 913c6e9..0000000 --- a/prolog/semantic_map_utils.pl +++ /dev/null @@ -1,194 +0,0 @@ -%% -%% Copyright (C) 2009-13 by Lars Kunze, Lorenz Moesenlechner, Moritz Tenorth -%% -%% This program is free software; you can redistribute it and/or modify -%% it under the terms of the GNU General Public License as published by -%% the Free Software Foundation; either version 3 of the License, or -%% (at your option) any later version. -%% -%% This program is distributed in the hope that it will be useful, -%% but WITHOUT ANY WARRANTY; without even the implied warranty of -%% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -%% GNU General Public License for more details. -%% -%% You should have received a copy of the GNU General Public License -%% along with this program. If not, see . -%% - -:- module(semantic_map_utils, - [ - map_instance/1, - map_read_all/1, - map_read_all/2, - map_object_info/1, - map_object_type/2, - map_root_objects/2, - map_root_object/2, - map_object_dimensions/4, - map_child_object/2, - map_child_objects/2, - map_object_label/2, - map_connection_type/3, - map_joint_name/3, - rdf_atom_no_ns/2 - ]). - - -:- use_module(library('semweb/rdfs')). -:- use_module(library('thea/owl_parser')). -:- use_module(library('semweb/owl')). -:- use_module(library('semweb/rdfs_computable')). -:- use_module(library('knowrob_objects')). -:- use_module(library('knowrob_perception')). - - -:- rdf_meta - map_instance(r), - map_read_all(-), - map_read_all(-,r), - map_root_object(r,r), - map_root_objects(r,?), - map_child_object(r,r), - map_child_objects(r,?), - map_object_info(?), - map_object_type(r,r), - map_object_dimensions(r,?,?,?), - map_object_label(r,?), - map_connection_type(r,r,+), - map_joint_name(r,r,r), - rdf_atom_no_ns(r,?). - - - -% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % -% Map root and child objects - -map_root_objects( Map, Objs ) :- - setof( Obj, map_root_object(Map, Obj), Objs). - -map_root_object( Map, Obj ) :- - owl_has(Obj, knowrob:describedInMap, Map), - (owl_individual_of(Obj, knowrob:'StorageConstruct'); - owl_individual_of(Obj, knowrob:'WallOfAConstruction'); - owl_individual_of(Obj, knowrob:'FurniturePiece'); - owl_individual_of(Obj, knowrob:'CounterTop')). - - -map_child_objects( Parent, Children ) :- - setof( Child, map_child_object(Parent, Child), Children). - -map_child_object( Parent, Child ) :- - owl_has( Parent, knowrob:'properPhysicalParts', Child ), - not( owl_individual_of(Child, knowrob:'Connection-Physical') ). - - - -% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % -% Read object properties - - -map_object_info([Inst, Type, Pose, [D, W, H]]) :- - map_instance(Map), - map_root_object(Map, Inst), - map_object_type(Inst, Type), - current_object_pose(Inst, Pose), - map_object_dimensions(Inst, W, D, H). - -map_object_type(Obj, Type) :- - rdf_has( Obj, rdf:type, Type ), - owl_subclass_of( Type, knowrob:'SpatialThing'). - -map_object_label( Obj, Label ) :- - owl_has( Obj, rdfs:label, literal(type('http://www.w3.org/2001/XMLSchema#string', Label)) ). - -map_object_dimensions( Obj, W, D, H ) :- - rdf_has( Obj, knowrob:'widthOfObject', literal(type(_, W_)) ), - atom_number(W_, W), - rdf_has( Obj, knowrob:'depthOfObject', literal(type(_, D_)) ), - atom_number(D_, D), - rdf_has( Obj, knowrob:'heightOfObject', literal(type(_, H_)) ), - atom_number(H_, H). - -map_object_dimensions( Obj, W, D, H ) :- - % The depth of a knob defaults to 3cm here. This information - % should either be asserted somewhere else or be set as a property - % when importing the semantic map. - rdf_has( Obj, knowrob:'radius', literal(type(_, Radius_)) ), - atom_number(Radius_, Radius), - W is 2 * Radius, - H is 2 * Radius, - D is 0.03. - - - - - -% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % -% Read joints and connections between object parts - - -% TODO: This does not seem correct, but I am not sure what these predicates -% are to do after all, so I let them like this for now (MT). -map_connection_type( Parent, Child, 'HingedJoint' ) :- - rdf_has( Parent, knowrob:'properPhysicalParts', Child ), - rdf_has( Child, knowrob:'properPhysicalParts', Joint ), - owl_individual_of(Joint, knowrob:'HingedJoint'), !. - -map_connection_type( Parent, Parent, 'PrismaticJoint' ) :- - rdf_has( Parent, rdf:type, knowrob:'Drawer' ), !. - -map_connection_type( Parent, Child, 'Fixed' ) :- - rdf_has( Parent, knowrob:'properPhysicalParts', Child ). - -map_joint_name( Parent, Child, Name ) :- - rdf_has( Parent, knowrob:'properPhysicalParts', Child ), - rdf_has( Child, knowrob:'properPhysicalParts', Name ), - owl_individual_of( Name, knowrob:'Connection-Physical' ). - - - -% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % -% Read map instance and content - -map_instance( Map ) :- - rdf_has(Map, rdf:type, knowrob:'SemanticEnvironmentMap'). - -map_read_all([R0|EntityList]) :- - map_read_all([R0|EntityList], 'http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap0'). - -map_read_all([R0|EntityList], MapInstance) :- - map_read_entity(MapInstance, 'null', R0), - setof(TopLevelObj, owl_has(TopLevelObj, knowrob:describedInMap, MapInstance), TopLevelObjs), - map_read_entities(TopLevelObjs, MapInstance, EntityList). - -map_read_entities([], _, []). -map_read_entities([E|Es], P, Res) :- - ((setof(Part, rdf_has(E, knowrob:properPhysicalParts, Part), Parts)) -> ( - map_read_entity(E, P, R0), - map_read_entities(Parts, E, Rs), - append([R0], Rs, R) - );( - map_read_entity(E, P, R1), - R=[R1] - )), - map_read_entities(Es, P, Res1), - append(R, Res1, Res). - - -map_read_entity(E, Parent, [E_no_ns, Parent_no_ns, Pose]) :- - rdf_atom_no_ns(E, E_no_ns), - ((Parent = 'null') -> - (Parent_no_ns = Parent) ; - rdf_atom_no_ns(Parent, Parent_no_ns)), - current_object_pose( E, Pose ). - - - - -% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % -% Utility methods - -rdf_atom_no_ns( IRI, LocalName ) :- - rdf_split_url(_, LocalName, IRI ). - - diff --git a/rviz_configs/iai_kitchen_only.rviz b/rviz_configs/iai_kitchen_only.rviz deleted file mode 100644 index 13a91f7..0000000 --- a/rviz_configs/iai_kitchen_only.rviz +++ /dev/null @@ -1,937 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - Splitter Ratio: 0.5 - Tree Height: 565 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: true - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - counter_bottom_fridge_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - counter_middle_fridge_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - counter_side_fridge_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - counter_side_fridge_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - counter_side_island_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - counter_side_island_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - counter_side_island_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - counter_side_sink_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - counter_side_sink_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - counter_top_fridge_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - counter_top_island_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - counter_top_oven_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - counter_top_sink_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_fridge_bottom_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_fridge_bottom_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_fridge_bottom_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_fridge_bottom_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_fridge_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_fridge_bottom_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_bottom_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_bottom_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_bottom_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_island_col1_bottom_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_bottom_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_center_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_center_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_center_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_island_col1_center_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_center_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_center_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_top_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_top_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_top_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_island_col1_top_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col1_top_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_bottom_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_bottom_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_bottom_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_island_col2_bottom_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_bottom_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_center_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_center_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_center_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_island_col2_center_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_center_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_center_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_top_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_top_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_top_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_island_col2_top_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col2_top_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_bottom_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_bottom_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_bottom_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_island_col3_bottom_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_bottom_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_center_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_center_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_center_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_island_col3_center_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_center_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_center_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_top_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_top_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_top_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_island_col3_top_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_island_col3_top_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_bottom_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_bottom_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_bottom_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_oven_bottom_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_bottom_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_center_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_center_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_center_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_oven_center_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_center_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_center_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_left_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_oven_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_oven_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_oven_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_oven_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_oven_oven_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_oven_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_oven_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_oven_right_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_oven_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_bottom_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_bottom_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_bottom_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_sink_col1_bottom_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_bottom_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_center_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_center_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_center_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_sink_col1_center_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_center_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_center_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_top_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_top_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_top_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_sink_col1_top_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col1_top_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col2_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col2_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col2_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_sink_col2_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col2_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col3_bottom_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col3_bottom_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col3_bottom_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_sink_col3_bottom_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col3_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col3_bottom_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col3_top_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col3_top_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col3_top_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - drawer_sink_col3_top_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col3_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drawer_sink_col3_top_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fridge_block_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fridge_fixed_link: - Alpha: 1 - Show Axes: false - Show Trail: false - fridge_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_fridge_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_island_col1_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_island_col1_center_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_island_col1_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_island_col2_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_island_col2_center_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_island_col2_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_island_col3_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_island_col3_center_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_island_col3_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_oven_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_oven_center_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_oven_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_oven_oven_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_oven_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_sink_col1_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_sink_col1_center_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_sink_col1_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_sink_col2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_sink_col3_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_drawer_sink_col3_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - handle_fridge_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - island_block_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - kitchen_link: - Alpha: 1 - Show Axes: false - Show Trail: false - oven_block_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - sink_block_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - sink_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - skirting_fridge_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - skirting_island_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - skirting_oven_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - skirting_sink_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - stove_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - white_counter_top_island_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - white_counter_top_sink_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: kitchen_description - TF Prefix: iai_kitchen - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: /map - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 8.64982 - Focal Point: - X: 0 - Y: 0 - Z: 0 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.750398 - Target Frame: - Value: Orbit (rviz) - Yaw: 4.0804 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000013c000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1200 - X: 248 - Y: 25