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added simple designator query after client test #1

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Merged
sasjonge merged 2 commits into from
May 14, 2025
Merged

added simple designator query after client test #1

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e4507b2
added simple designator query after client test
daniel86 May 14, 2025
be3aca1
Merge branch 'dev' into test-query
daniel86 May 14, 2025
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14 changes: 14 additions & 0 deletions scripts/knowrob_designator_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,17 @@
DesignatorExecutionStart,
DesignatorExecutionFinished
)
from knowrob_ros.knowrob_ros_lib import KnowRobRosLib
from knowrob_ros.knowrob_ros_lib import get_default_modalframe

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_topic_client')
Expand Down Expand Up @@ -145,6 +156,9 @@ def main():
exec_finished_msg.json_designator = resolved_designator
rospy.loginfo("Publishing DesignatorExecutionFinished...")
exec_finished_pub.publish(exec_finished_msg)

# Finally do some testing queries with KnowRob
testQueryDesig()

if __name__ == '__main__':
main()