Cleaned repository

LICENSE

@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2024, KnowRob
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1,6 +1,15 @@
 # knowrob_ros
 
-**knowrob_ros** is a ROS 1 wrapper for [KnowRob](https://github.com/knowrob/knowrob), providing ROS interfaces to integrate KnowRob's knowledge reasoning capabilities with robotic systems. This package bridges KnowRob's Prolog-based system with common ROS workflows, making it easier to perform semantic reasoning in real-world robotic tasks.
+**knowrob_ros** is a ROS 1 wrapper for [KnowRob](https://github.com/knowrob/knowrob), providing ROS interfaces to integrate KnowRob's knowledge reasoning capabilities with robotic systems. 
+
+## Key Features
+
+- **ROS Actions**  
+  - `AskOne`, `AskAll`, **AskIncremental**, and `Tell`  
+- **Python API**  
+  - `knowrob_ros_lib.py` for simple query/assertion via ros in python
+- **Docker Support**  
+  - Ready-to-use container for fast setup  
 
 ## Installation (Local ROS Workspace)
 
@@ -21,7 +30,7 @@ cd ~/catkin_ws/src
 git clone https://github.com/knowrob/knowrob.git
 
 # Clone knowrob_ros (this repo)
-git clone https://github.com/your-org/knowrob_ros.git
+git clone https://github.com/knowrob/knowrob_ros.git
 ```
 
 ### 2. Build the workspace
@@ -32,7 +41,7 @@ catkin build
 ```
 ---
 
-## 🐳 Installation with Docker
+## Installation with Docker
 
 If you'd like to avoid setting up everything locally, you can use the provided Dockerfile to run KnowRob and knowrob_ros in an isolated container.
 
@@ -59,9 +68,48 @@ source /catkin_ws/devel/setup.bash
 roslaunch knowrob_ros knowrob.launch
 ```
 
-## Example Usage
+## Usage
+
+### ROS Interfaces
+
+The following ROS interfaces are available:
+
+| Endpoint                                       | Type                                 | Description                   |
+|------------------------------------------------|--------------------------------------|-------------------------------|
+| `/knowrob/askone`                              | `AskOneAction`                       | Single-result query           |
+| `/knowrob/askall`                              | `AskAllAction`                       | Multi-result query            |
+| `/knowrob/askincremental`                      | `AskIncrementalAction`               | Start incremental query       |
+| `/knowrob/askincremental_next_solution`        | `AskIncrementalNextSolutionAction`   | Fetch next solution           |
+| `/knowrob/askincremental_finish` (service)     | `AskIncrementalFinish.srv`           | Finish incremental query      |
+| `/knowrob/tell`                                | `TellAction`                         | Assert triples into KB        |
+
+All endpoints need to be called with a `ModalFrame` message. We document the `ModalFrame` message in detail below.
+
+### Using the Interface from Python
+
+Use the Python client library to integrate KnowRob queries and assertions directly into your code. Here’s a minimal example:
+
+```python
+from knowrob_ros.knowrob_ros_lib import KnowRobRosLib, get_default_modalframe
+
+# Initialize ROS node and client
+client = KnowRobRosLib()
+client.init_node("my_python_client")
+
+# Single-result query
+modal = get_default_modalframe()
+response = client.ask_one("lpn:jealous(lpn:vincent, X)", modal)
+print("AskOne status:", response.status)
+print("Binding:", response.answer)
+
+# Shutdown when done
+client.shutdown_node()
+```
+
+For detailed usage, full method reference, and advanced examples, see the [Python API Guide](src/knowrob_ros_lib/README.md).
 
-### Query Interface
+
+### Command Line
 
 To run a query insterface on the terminal (for docker you can connect to the same container in which you launched knowrob), you should first list to the corresponding topic, on which the results are published:
 
@@ -93,4 +141,51 @@ goal:
       confidence: 0.0"
 ```
 
-You should now see an answer on the first terminal.
+You should now see an answer on the first terminal.
+
+## Modal Frames
+
+The `ModalFrame` message controls **who** “knows” what, and **when** it’s considered true. Supply one on every call to `ask_one`, `ask_all`, `ask_incremental`, or `tell`.
+
+| Field                 | Type     | Default                          | Description                                                                                                                       |
+|-----------------------|----------|----------------------------------|-----------------------------------------------------------------------------------------------------------------------------------|
+| `epistemicOperator`   | `uint8`  | `KNOWLEDGE (0)`                  | **KNOWLEDGE:** “it is certain that …”<br>**BELIEF (1):** “it could be that …”                                                    |
+| `aboutAgentIRI`       | `string` | `""`                           | IRI of another agent whose knowledge/belief you’re querying. Mutually exclusive with `aboutSimulationIRI`.                      |
+| `aboutSimulationIRI`  | `string` | `""`                           | IRI of a mental simulation knowledge graph to query. Mutually exclusive with `aboutAgentIRI`.                                     |
+| `temporalOperator`    | `uint8`  | `CURRENTLY (0)`                  | **CURRENTLY:** “it is now the case that …”<br>**ALL_PAST (1):** “it always was the case that …”<br>**SOME_PAST (2):** “it was the case that …” |
+| `minPastTimestamp`    | `float`  | `UNSPECIFIED_TIMESTAMP (-1.0)`   | Lower time bound (seconds since epoch). When >0, only facts true *after* this timestamp are considered.                          |
+| `maxPastTimestamp`    | `float`  | `UNSPECIFIED_TIMESTAMP (-1.0)`   | Upper time bound (seconds since epoch). When >0, only facts true *before* this timestamp are considered.                         |
+| `confidence`          | `float`  | `0.0`                            | Minimum confidence threshold (0.0–1.0) for returned statements.                                                                   |
+
+## Repository Layout
+
+```
+.
+├── action/            ← ROS action definitions
+├── include/           ← C++ interface headers
+├── launch/            ← Launch files
+├── msg/               ← Custom ROS messages
+├── scripts/           ← Python test scripts
+├── src/               ← Core Prolog, C++ and Python code
+│   └── knowrob_ros_lib/ ← Python client library
+├── srv/               ← ROS services
+├── test/              ← rostest definitions
+├── Dockerfile         ← Container setup
+├── build-docker.sh    ← Helper for Docker builds
+├── CMakeLists.txt
+├── package.xml
+└── README.md
+```
+
+## Contributing
+
+1. Fork the repo and create a branch  
+2. Write or update tests in `scripts/` or `test/`  
+3. Follow ROS and Python style guidelines  
+4. Submit a pull request  
+
+## 🛠 Support
+
+- **Issues & feature requests**: [GitHub Issues](https://github.com/your-org/knowrob_ros/issues)  
+
+(Inactive issues will be closed after 2 weeks of inactivity. Please open a new issue if you need further assistance.)