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2022-01-25 12:23:55 -0500 edited answer roslisp issues: How do I locate and kill compilaition process that is stopping my s-xml from compiling?

Hi, This happens when you kill your Emacs during compilation. Roslisp creates a little flag file to deal with dependenc

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2022-01-20 15:23:18 -0500 answered a question roslisp issues: How do I locate and kill compilaition process that is stopping my s-xml from compiling?

Hi, This happens when you kill your Emacs during compilation. Roslisp creates a little flag file to deal with dependenc

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2021-05-14 04:54:40 -0500 answered a question CRAM iai_maps - cannot launch json_prolog and map_server (ROS melodic, kinetic)

Hi, The tutorial that you're having problems with has a tag that it's compatible with CRAM v0.6.0 and the current defau

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2020-05-23 15:15:16 -0500 commented answer Missing packages after installing rosdep based on python3-rosdep2 in Noetic

I also destroyed my installation by getting python3-rosdep2. The reason is that this is the package that's suggested by

2020-05-23 15:14:40 -0500 commented answer Missing packages after installing rosdep based on python3-rosdep2 in Noetic

I also destroyed my installation by getting python3-rosdep2. The reason is that this is the package that's suggested by

2019-04-23 04:47:54 -0500 answered a question Understanding visibility reasoning in CRAM

Hi, The object centered view is generated for the cases when the object is completely not in camera view or only a part

2019-03-06 08:30:37 -0500 answered a question Roslisp_Repl can't find package that is installed

Hi, You need to first load the package before you can use it in a function call: (ros-load:load-system "roslisp_utilit

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2017-09-18 14:09:49 -0500 commented answer Service call failed in json-prolog while querying an owl file in Cram

We have a bunch of tutorials. Here is he one that showcases most complex behaviors It runs on the newest CRAM version (0

2017-09-13 10:20:37 -0500 answered a question Service call failed in json-prolog while querying an owl file in Cram

Hi, This seems like an error on the KnowRob side. I execute it on my machine and it works fine. I'm using the master br

2017-09-11 08:27:33 -0500 commented answer Problem with running json-prolog:prolog to query an owl file

You need a json_prolog node service provider running. Such that when you do "rosservice list" it shows up in the list (a

2017-09-11 07:55:32 -0500 commented answer Problem with running json-prolog:prolog to query an owl file

Well, this looks fine. Your json prolog query still doesn't give the expected results?

2017-09-11 07:55:10 -0500 commented answer Problem with running json-prolog:prolog to query an owl file

Well, this looks fine. You json prolog query is still doesn't give the expected results?

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2017-09-07 11:24:43 -0500 edited answer Problem with running json-prolog:prolog to query an owl file

Hi, Well, as your warning message suggests, your ROS node is not running. Without a ROS node you cannot do any ROS comm

2017-09-07 11:19:18 -0500 answered a question Problem with running json-prolog:prolog to query an owl file

Hi, Well, as your warning message suggests, your ROS node is not running. Without a ROS node you cannot do any ROS comm

2017-08-07 07:31:11 -0500 answered a question ROS Indigo - rviz maker turned white after update

This issue has been solved by @William in the following pull request: https://github.com/ros-visualization/rviz/pull/113

2017-07-06 03:51:07 -0500 commented question ROS Indigo - rviz maker turned white after update

I opened a new issue on RViz Github. Let's see what they say. Maybe this is intended behaviour. https://github.com/ros-v

2017-07-06 03:38:26 -0500 commented question ROS Indigo - rviz maker turned white after update

I get the same problem. The visualization_marker message has the correct color values but all markers appear white.

2016-09-07 06:51:39 -0500 answered a question ROSLisp Tutorial Error in add-two-ints

I committed a fix to the tutorial. Do a git pull and try again. I strongly recommend, though, that you follow the text in the tutorials on the ROS wiki page, e.g. here:

http://wiki.ros.org/roslisp/Tutorials...

The text in those tutorials will help a lot to figure out what is going on in the tutorial code.

2016-09-07 06:37:45 -0500 commented question ROSLisp Tutorial Error in add-two-ints

Could you please point at the particular part of the roslisp tutorial from the ROS wiki page when this error happens? I suspect that you are not following the tutorial.

The problem that you encountered is a minor issue, I doubt greatly that it is connected to an SBCL bug.

2016-08-22 13:59:07 -0500 commented answer Config and test rosemacs

Great to hear that roslisp_repl worked for you. It is true that for most people it is more optimal to wait for some time until a new ROS version gets more stable and rich on packages. Knowrob depends on rosjava, if rosjava is missing the only thing you can do right now is to install it from source

2016-08-09 16:12:01 -0500 commented question Config and test rosemacs

You followed the setup instructions for non-lisp developers of rosemacs. What you should try instead is the instructions for lisp developers. You can simply try to rosrun roslisp_repl roslisp_repl and that will start the lisp shell in an Emacs. There are also roslisp tutorials around, try those. .

2016-08-05 10:38:45 -0500 commented answer Installing ROSLisp and Emacs

Hmm, actually, I just googleid it myself and that didn't help. Anyway, try wstool init in the src directory of your catkin workspace.

2016-08-05 10:36:27 -0500 commented answer Installing ROSLisp and Emacs

The thing with the wstool is a known error. It is solved by one shell command. I would tell you what the command is but if you google yourself you'll remember it better :)

2016-08-05 08:38:28 -0500 answered a question Installing ROSLisp and Emacs

Hey,

the rosemacs package is set for release in Kinetic, it's currently available at the shadow repositories of OSRF. You would have to wait for the next sync and one can never know when the OSRF crew will initiate that. There hasn't been a sync for a long while, so I guess it will happen very soon. Then you will be able to install it with apt-get.

roslisp should already be there, it comes with ROS installation per default.

To install ROSProlog follow the usual installation instructions of KnowRob, to install SWI Prolog compiler you can simply use sudo apt-get install swi-prolog.

HTH

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2016-04-15 04:43:17 -0500 answered a question cram Object recognition

Hi, roboearth perception packages are outdated and not supported anymore. If you need a perception framework try robosherlock ( robosherlock.org )

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2016-03-07 14:13:57 -0500 answered a question CRAM MoveIt Tutorial problem

I just tried out the tutorial and the call succeeded for me.

Which version of cram_moveit and cram_tutorials are you using?

The link to the repository in the tutorial was a bit outdated, so I updated it now (and also cleaned up the code in the repo a bit). If you're using cram_moveit version 0.2.1 (see package.xml), then cloning from the updated link in the tutorial might help.

2016-01-20 12:47:29 -0500 commented answer ROSLisp/ROSProlog/Knowrob-- Need CRAM for OWL? JSON?

@toddcpierce, if you find this answer satisfactory, please mark it so (to keep the number of unanswered questions on answers.ros.org low).

2016-01-20 12:43:32 -0500 answered a question ROSLisp/ROSProlog/Knowrob-- Need CRAM for OWL? JSON?

should I install SBCL and SWI Prolog in advance before even installing ROS?

SBCL is a system dependency of ROS, so you get it when you install ROS. SWI Prolog is installed when you rosdep install KnowRob.

If I install Knowrob, will ROSLisp, ROSProlog and JSON_prolog be installed as dependencies anyway?

roslisp comes with ROS, rosprolog and rosprolog side of json_prolog come with KnowRob.

Will it install CRAM too?

No.

Do I need to install CRAM at all?

json_prolog provides a JSON interface for rosprolog that works over ROS services. Once you roslaunch your json_prolog, you will see four new services in your ROS ecosystem:

$ rosservice list
/json_prolog/finish
/json_prolog/next_solution
/json_prolog/query
/json_prolog/simple_query

You can query these services using plain roslisp.

cram_json_prolog adds syntactic sugar to these raw service calls, e.g., by maintaining a persistent service client, having a lazy list representation of possibly infinite solutions of the Prolog query etc. To use cram_json_prolog you need to git clone another two repos: cram_core and cram_3rdparty, as they are dependencies of cram_json_prolog. So you have a choice: have 3 extra repos in your workspace and use the presumably simpler interface vs. get by without syntactic sugar. I'd suggest you first fiddle around with raw service calls and use the code in cram_json_prolog only as reference / examples.

2016-01-07 12:25:02 -0500 answered a question roslisp/rosprolog General Questions

Hi Todd,

In CRAM (a Common Lisp robot programming framework) we are using json_prolog to talk from SBCL to SWI Prolog.

Is the json-prolog call somehow using the normal service and messaging infrastructure of ROS or is it something different?

It is based on the ROS service mechanism, for your case of querying rosprolog from Lisp, json-prolog would help you register a rosprolog ROS service that can answer queries over ROS and send the results back to Lisp. The query and the result are encoded in JSON format. Nothing fancy.

Does ROS even support these two running on different machines at all?

Not sure if I understood your question correctly but if you're asking if you can run a ROS service server on one machine and query it from another machine, yes, sure, just make sure you set up your $ROS_MASTER_URI (and eventually $ROS_IP) entries right.

Should I just have a swank client running local to the prolog?

On the Lisp side we have a cram_json_prolog package which contains a number of utility functions to call the service using the persistent service API, take a look here: https://github.com/cram2/cram_json_pr... . We use lazy lists to represent the result of the Prolog query as it can have an infinite length, so this package has a dependency on two small CRAM packages from the cram_core repository, which implement lazy lists for Common Lisp etc..

You would then call the service from Lisp like this:

   (json-prolog:prolog
    `(and ("some_swi_predicate" "some_known_binding_as_string" ?some_resulting_binding)
          ("other_swi_prolog_predicate" 123 ?another_resulting_binding)))

and the variables ?some_resulting_binding and ?another_resulting_binding will have the values that you are interested in in your query.

Unfortunately, I cannot point you to any self-contained documentation about `json_prolog, as the packages are themselves not self-contained and depend on other parts of our systems. If you like the approach and would like to know more feel free to edit your question / comment or drop me an email at gaya [at] cs [dot] uni-bremen [dot] de or open an issue on the corresponding Github repo.

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2015-09-18 10:01:56 -0500 asked a question How do you document your ROS packages?

There are 100s of places where one can put documentation info about their ROS package code: <documentation> strings in package.xmls, Github readme pages (assuming your code is hosted on Github), Github pages of your repos, your project website, ROS wiki pages, tutorials on ROS wiki or your website or wherever else, Sphynx doc generator and other doc tools, man pages, in-code comments, obviously, etc. etc. (of course, many of these are supposed to be used on different levels of detail). It gets especially problematic when your project is separated into multiple subprojects, each hosted in their own repository, which makes it harder to get the big picture.

So, to those few out there that actually have experience documenting their (preferably open-source) code, any hints on how you organize this for huge projects and, if the documentation is not only in one place, how do you maintain it to reflect the ongoing changes in the code?

2015-06-15 10:01:35 -0500 commented answer ros-load:load-system doesn't load the package

Yes, you probably killed the building process before it could remove the lock which is stored in the .ros directory. You should "Mark as correct" the answers if they work for you, otherwise you flood the board with unanswered questions.

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2015-06-15 09:59:21 -0500 commented answer CRAM on an arm processor?

The -lpthread thing is just an idea, I'm not an expert in Lisp on ARM business.

2015-06-15 09:56:36 -0500 commented answer CRAM on an arm processor?

"I didn't try building knowrob." - I don't see any reason for building a knowledge processing system on a microcontroller that runs ROS. "multi threading doesn't work for ARM" - Have you built SBCL with -lpthread flag? https://github.com/sbcl/sbcl/blob/mas...

2015-06-13 06:53:33 -0500 answered a question CRAM on an arm processor?

The CRAM team hasn't tried it yet but we do have such plans. Check again later. If you'll be tryinng things out on your own any input is most welcome.

2015-06-13 06:41:54 -0500 answered a question cram-intermediate-tutorial can't find the package

The tutorial code is on a different branch that hasn't been merged in yet. This tutorial is very new and is work in progress. The current pull request is here but it hasn't been reviewed yet: https://github.com/cram-code/cram_tut...