This repository contains four ROS packages:
aRMOR is a ROS service depending on AMOR (a OWLAPI-based library), and armor_msgs, which contains the ROSjava-based input and output interfaces of aRMOR. The project contains also an example of a Python service's client that uses our api to perform some simple manipulations and queries to a test OWL ontology.
Each package is a Git sub-module (i.e., a repository, see here for a simple guide).
For installing the progect make sure to have a working installation of ROS and install ROSJava (if you didn't already). For instance, for ROS kinetic type
sudo apt-get install ros-kinetic-rosjava
after, run
cd your_catkin_ws/srcgit clone https://github.com/EmaroLab/ros_multi_ontology_references.gitcd ros_multi_ontology_references/git submodule update --init --recursive --remote- optionally update to the last version
git submodule foreach git pull origin mastergit submodule foreach git checkout master
cd ../..catkin_makecd src/ros_multi_ontology_references/armor./gradlew deployApp
For runnig an hello-world example, type in different terminals:
rosrun armor execute it.emarolab.armor.ARMORMainServicerosrun armor_py_api client_test.py
You can further test the server by sending requests manually, for instance:
rosservice call /armor_interface_srv "armor_request:
client_name: ''
reference_name: 'reference'
command: 'QUERY'
primary_command_spec: 'CLASS'
secondary_command_spec: 'RESTRICTIONS'
args: ['Class_4']"
Check here all the aMOR features and installation details. Also, check here the complete list of requests that the service can digest. For more documentation about each modules and the last releases, refer to the links of the four repositories above.
aRMOR gives an elementary interface to SPARQL. We made aMOR in order to accommodate a better support for SPARQL, but we are not planning to implement it soon. You are welcome if you want to contribute or share your idea, and (if your findings are based on OWL-API) we will be happy to integrate them in aRMOR.
Also, it is recommended to do not use ontology with entities having IRI with different roots. For importing entities with different IRIs and convert them to a common root we use the ontology editor Protege.
With such an editor, we also implement ontological structures that do not change at run-time. Indeed aMOR does not support the whole OWL operators, but it focus only on the once that most often are needed in robotic applications. Therefore, it is common to design complex -but static- semantic off-line, and load them through file at run-time with manipulation and querying purposes.
If aMOR is usefull for your applications, please cite our related work
- Buoncompagni, Luca, and Capitanelli, Alessio, and Mastrogiovanni, Fulvio: "A ROS multi-ontology references service: OWL reasoners and application prototyping issues". In: Proceedings of the 5th Italian Workshop on Artificial Intelligence and Robotics (AIRO) A workshop of the XVII International Conference of the Italian Association for Artificial Intelligence. CEUR-WS, Trento, Italy (2018).
Here scenarios in which we used aRMOR
- Buoncompagni, Luca, and Mastrogiovanni, Fulvio. "Dialogue-based supervision and explanation of robot spatial beliefs: a software architecture perspective 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). IEEE, 2018.
- Capitanelli, Alessio, and Maratea, Marco, and Mastrogiovanni, Fulvio, and Vallati, Mauro (2018). "On the manipulation of articulated objects in human–robot cooperation scenarios". Robotics and Autonomous Systems, 109, 139-155.
For comment, discussions or support git issues are welcome. For other notices you can contact us at: