From e4507b2e5b807099d27cb9d8cc5ff01b47c0d777 Mon Sep 17 00:00:00 2001 From: danielb Date: Wed, 14 May 2025 17:07:34 +0200 Subject: [PATCH] added simple designator query after client test --- scripts/knowrob_designator_client.py | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/scripts/knowrob_designator_client.py b/scripts/knowrob_designator_client.py index ea92765..68e1bbb 100755 --- a/scripts/knowrob_designator_client.py +++ b/scripts/knowrob_designator_client.py @@ -14,6 +14,8 @@ DesignatorExecutionStartAction, DesignatorExecutionStartGoal, DesignatorExecutionFinishedAction, DesignatorExecutionFinishedGoal ) +from knowrob_ros.knowrob_ros_lib import KnowRobRosLib +from knowrob_ros.knowrob_ros_lib import get_default_modalframe def send_action(client, goal, label): rospy.loginfo(f"[{label}] Waiting for action server...") @@ -24,6 +26,15 @@ def send_action(client, goal, label): result = client.get_result() rospy.loginfo(f"[{label}] Result: success={result.success}, message='{result.message}''") +def testQueryDesig(): + know = KnowRobRosLib() + know.init_clients() # After rospy.init_node() + + query = "triple(?d, rdf:type, soma:PyCramDesignator)" + rospy.loginfo(f"asking [{query}] ...") + result = know.ask_one(query, get_default_modalframe()) + rospy.loginfo(f"response: [{result}]") + def main(): rospy.init_node('knowrob_designator_full_test_client') @@ -142,6 +153,9 @@ def main(): exec_finished_goal.json_designator = resolved_designator exec_finished_goal.stamp = now send_action(exec_finished_client, exec_finished_goal, "ExecutionFinished") + + # Finally do some testing queries with KnowRob + testQueryDesig() if __name__ == '__main__': main()