SemanticMapToOWLTestClient.java

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package edu.tum.cs.ias.knowrob.map;

import ros.*;
import ros.pkg.mod_semantic_map.srv.*;
import ros.pkg.mod_semantic_map.msg.*;



public class SemanticMapToOWLTestClient {

        
        // ROS stuff
        
        static Boolean rosInitialized = false;
        static Ros ros;
        static NodeHandle n;
        

                

        public static void main(String args[]) {
                  
                Ros ros = Ros.getInstance();
                if(!Ros.getInstance().isInitialized()) {
                        ros.init("semantic_map_to_owl_test_client");
                }
                NodeHandle n = ros.createNodeHandle();

                
                // create map

                GenerateSemanticMapOWL.Request req = new GenerateSemanticMapOWL.Request();
                req.map= new SemMap();
    // Set the IRI for the map that will be created
                req.map.header.frame_id="http://www.example.com/foo.owl#";
                req.map.header.stamp=ros.now();
                
//              req.map.objects = new SemMapObject[4];
                
                
                // create cupboard
    req.map.objects.add(new SemMapObject());
                req.map.objects.get(0).id=1;
                req.map.objects.get(0).partOf=0;
                req.map.objects.get(0).type="cupboard";

                req.map.objects.get(0).depth  = 55.6f;
                req.map.objects.get(0).width  = 60.7f;
                req.map.objects.get(0).height = 70.6f;

                req.map.objects.get(0).pose = new float[] { 1.0f,0.0f,0.0f,2.3f,
                                                                                        0.0f,1.0f,0.0f,1.2f,
                                                                                        0.0f,0.0f,1.0f,0.4f,
                                                                                        0.0f,0.0f,0.0f,1.0f};           
                // create door
                req.map.objects.add(new SemMapObject());
                req.map.objects.get(1).id=2;
                req.map.objects.get(1).partOf=1;
                req.map.objects.get(1).type="Door";

                req.map.objects.get(1).depth  = 0.6f;
                req.map.objects.get(1).width  = 60.7f;
                req.map.objects.get(1).height = 70.6f;

                req.map.objects.get(1).pose = new float[] { 1.0f,0.0f,0.0f,2.4f,
                                                                                        0.0f,1.0f,0.0f,1.3f,
                                                                                        0.0f,0.0f,1.0f,0.4f,
                                                                                        0.0f,0.0f,0.0f,1.0f};           
                // create hinge
                req.map.objects.add(new SemMapObject());
                req.map.objects.get(2).id=3;
                req.map.objects.get(2).partOf=2;
                req.map.objects.get(2).type="HINGEDJOINT";

                req.map.objects.get(2).depth  = 5.6f;
                req.map.objects.get(2).width  = 0.7f;
                req.map.objects.get(2).height = 0.6f;

                req.map.objects.get(2).pose = new float[] { 1.0f,0.0f,0.0f,2.5f,
                                                                                        0.0f,1.0f,0.0f,1.4f,
                                                                                        0.0f,0.0f,1.0f,0.4f,
                                                                                        0.0f,0.0f,0.0f,1.0f};
                
                // create handle
                req.map.objects.add(new SemMapObject());
                req.map.objects.get(3).id=4;
                req.map.objects.get(3).partOf=2;
                req.map.objects.get(3).type="handle";

                req.map.objects.get(3).depth  = 5.6f;
                req.map.objects.get(3).width  = 6.7f;
                req.map.objects.get(3).height = 7.6f;

                req.map.objects.get(3).pose = new float[] { 1.0f,0.0f,0.0f,2.6f,
                                                                                        0.0f,1.0f,0.0f,1.5f,
                                                                                        0.0f,0.0f,1.0f,0.4f,
                                                                                        0.0f,0.0f,0.0f,1.0f};

                                ServiceClient<GenerateSemanticMapOWL.Request, GenerateSemanticMapOWL.Response, GenerateSemanticMapOWL> cl = 
                                                        n.serviceClient("/knowrob_semantic_map_to_owl/generate_owl_map", new GenerateSemanticMapOWL());
                
                try {
                        GenerateSemanticMapOWL.Response res = cl.call(req);
                        System.out.println("Map:\n\n " +res.owlmap);
                        
                } catch (RosException e) {
                        e.printStackTrace();
                }

        }
}