TOSM-based database handler

OWL-based database handler using Owlready2

# How to test
roslaunch tosm_db_handler sample_test.launch

# Update tosm-based database manually
roslaunch tosm_db_handler db_update.launch

# Database query for ROSPLAN
roslaunch tosm_db_handler pohang.launch

# Visualization for TOSM database
roslaunch tosm_db_handler vis.launch

To use python3 in ROS

We use an Owlready2 python3 package to handle the ontology-based database. In order to use python3 in ROS, you should install packages as follow.

sudo apt-get install python3-pip python3-yaml
sudo pip3 install rospkg catkin_pkg

Requirements

Python 3.5, Owlready2 0.23, setuptools 41.0.0, rdflib 4.2.2, cython

If you get a warning "owlready2_optimized is not available" when importing owlready2, you should install cython to improve optimization and then reinstall the owlready2 sequentially.

pip3 install cython
pip3 install --force-reinstall --no-cache-dir owlready2

Version history

Version 0.0.1 (May 15, 2020)

• Added database handling APIs (e.g., query individuals, add individuals, update individuals, and save the owl file).
• Added a test python script to explain how to use APIs.
• Todo: Add relationship-related APIs such as handling object property functions.

Version 0.0.2 (May 22, 2020)

• Added a class "TOSMDatabaseSPARQL" which is used for a query with SPARQL.
• Added a test script for testing SPARQL in sample_test.py (isConnectedTo and isInsideOf; only for places)
• Added a database update node to update DB manually in need.
• Todo: Make various SPARQL queires functions.

Version 0.0.3 (July 8, 2020)

• Added TOSM-based database for Pohang (pohang.owl).
• Added a script for rosplan, query_for_rosplan.py (You can test with pohang.launch file).
• Added query function for finding doors which are inside of doorways.
• Todo: Update metric information for pohang.owl (Their values are initialized.)