1. get_object_transform returns 'wheel' instead of 'http://www.knowrob.org/kb/knowrob_beliefstate#TestWheel'

2. =(RefStr, 'http://knowrob.org/kb/knowrob_paramserver.owl#MapFrameSymbol') in get_object_transform fails.

3. replace_object_transforms('http://www.knowrob.org/kb/knowrob_beliefstate#TestWheel', ['map', 'http://www.knowrob.org/kb/knowrob_beliefstate#TestWheel', [0.5, 0, 0.8], [0, 0, 0, 1]])
   results in the following error msg:
   [ERROR] [WallTime: 1497879005.558262] Error processing request: "Prolog query failed: PrologException: error(type_error(method_params, '.'(map, '.'(map, '.'(1.4978790055262158E9, [])))), context(/(jpl_call, 4), 'not all actual parameters are convertible to Java values or references'))"
   ['Traceback (most recent call last):\n', ' File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 623, in _handle_request\n response = convert_return_to_response(self.handler(request), self.response_class)\n', ' File "/home/ichumuh/thorin_ws/src/knowrob_addons/knowrob_beliefstate/src/knowrob_beliefstate/object_state_publisher.py", line 75, in test_srv_cb\n sol = self.prolog_query(q)\n', ' File "/home/ichumuh/thorin_ws/src/knowrob_addons/knowrob_beliefstate/src/knowrob_beliefstate/object_state_publisher.py", line 102, in prolog_query\n solutions = [x for x in query.solutions()]\n', ' File "/home/ichumuh/thorin_ws/src/knowrob/json_prolog/src/json_prolog/json_prolog.py", line 38, in solutions\n 'Prolog query failed: %s' % next_solution.solution)\n', 'PrologException: "Prolog query failed: PrologException: error(type_error(method_params, '.'(map, '.'(map, '.'(1.4978790055262158E9, [])))), context(/(jpl_call, 4), 'not all actual parameters are convertible to Java values or references'))"\n']`

Hello,
I install the knowrob in the path /home/admin6/catkin_ws/src/stacks/knowrob,
then I want to install the knowrob_addons and knowrpb_gui.But I don't know which
location should I choose for the knowrob_addons and knowrob_gui?Now I put the
knowrob_addons and knowrob_gui inn the path /home/admin6/catkin_ws/src,and
input the commands
in the terminal:
cd /home/admin6/catkin_ws
catkin_make
But I find that the knowrob_addons and knowrob_gui are not install correctly.
Should I put the knowrob_addons and the knowrob_gui in the path /home/admin6/catkin_ws/src or /home/admin6/catkin_ws/src/stacks?In addition,should I modify the .rosinstall file or CMakeLists.txt?
Could you help me?Thanks a lot!

Story: code-iai/knowrob_backlog#33

At the moment, the internal buffer of transformations that, for normal tf, keeps only the last 10 seconds of data, is not emptied any more. While it is intended to keep data for several short time slots, we should find a garbage collection mechanism, e.g. by storing the "last accessed" time.

In addition, finding the appropriate transform should not return transforms that are newer than the time point of interest.

I tried build a fresh workspace with knowrob and knowrob_addons using catkin_tools. Unfortunately, it did not work. I know this is a nice-to-have feature. Still, I want to document this here. Maybe we manage to fix this in the future.

setup:
ROS Indigo
knowrob_addons commit: e4b9117
knowrob commit: 6d8c92b34

failure:

Errors     << knowrob_sim_games:cmake /home/gbartels/ros/indigo/robohow/logs/knowrob_sim_games/build.cmake.004.log
CMake Error at /home/gbartels/ros/indigo/robohow/src/stacks/knowrob_addons/knowrob_sim_games/CMakeLists.txt:7 (catkin_rosjava_setup):
  Unknown CMake command "catkin_rosjava_setup".

further observations:
workspace builds fine using catkin_make
only knowrob built fine using catkin_tools

Hi!

After cloning knowrob_addons, i can't compile due to the following error:
[100%] Built target gradle-knowrob_openease
[100%] Built target gradle-knowrob_plan_summary
warning: [options] bootstrap class path not set in conjunction with -source 1.7
/home/user/catkin_ws/src/knowrob_addons/knowrob_learning/knowrob_learning/src/main/java/org/knowrob/reinforcement/KitchenEnvironment.java:821: error: cannot find symbol
gripper_cmd.setPosition(0.0);
^
symbol: method setPosition(double)
location: variable gripper_cmd of type Pr2GripperCommand
/home/user/catkin_ws/src/knowrob_addons/knowrob_learning/knowrob_learning/src/main/java/org/knowrob/reinforcement/KitchenEnvironment.java:822: error: cannot find symbol
gripper_cmd.setMaxEffort(100.0);
^
symbol: method setMaxEffort(double)
location: variable gripper_cmd of type Pr2GripperCommand

I've installed the Pr2GripperCommand messages, but this doesn't fix the problem.

/edit: Happens on master as well as on the kinetic branch

Implement mng_desig_get_value for nested designators

The designator interface should understand more than just the type and pose of a designator.

Story: code-iai/knowrob_backlog#30

• 'update_task_tree' predicate can accept prolog lists along with java arrays.
• also, this predicate can support namespaces

so that, in the end, we have nice compact queries

Story: code-iai/knowrob_backlog#7

• Interface to Weka machine learning
• Feature selection: Find relevant features
• Classifcation
• Create knowrob package: Predicates that allow users to use the weka interface with episode data

In order to let knowrob_addons compile also for external users, there should not be any packages that depend on non-public packages e.g. from knowrob-dev. Therefore, those packages should all be in some other private repository, e.g. knowrob-dev.

Clarify the relation between object instances in KnowRob and CRAM designators and check if we can represent all required operations using this analogon

Hello everyone!
When I install the knowrob_addons,I find a difficult problem.
I input the commands in the terminal:
cd ~/catkin_ws
catkin_make
Then I find the errors in the terminal:
.........................................................................................................................................................
FAILURE: Build failed with an exception.

• What went wrong:
  Could not resolve all dependencies for configuration ':knowrob_meshes:compile'.

Could not find any version that matches org.knowrob.knowrob_cram:knowrob_cram:[0.1,).
Required by:
org.knowrob.knowrob_meshes:knowrob_meshes:1.0.0

• Try:
  Run with --stacktrace option to get the stack trace. Run with --info or --debug option to get more log output.
  make[2]: *** [stacks/knowrob_addons/knowrob_meshes/CMakeFiles/gradle-knowrob_meshes] error 1
  make[1]: *** [stacks/knowrob_addons/knowrob_meshes/CMakeFiles/gradle-knowrob_meshes.dir/all] error 2
  make[1]: ....

FAILURE: Build failed with an exception.

• What went wrong:
  Could not resolve all dependencies for configuration ':knowrob_memory_graph:compile'.

Could not find any version that matches org.knowrob.knowrob_cram:knowrob_cram:[0.1,).
Required by:
org.knowrob.knowrob_memory_graph:knowrob_memory_graph:0.1.0

• Try:
  Run with --stacktrace option to get the stack trace. Run with --info or --debug option to get more log output.

FAILURE: Build failed with an exception.

• What went wrong:
  Could not resolve all dependencies for configuration ':knowrob_plan_summary:compile'.

Could not find any version that matches org.knowrob.knowrob_cram:knowrob_cram:[0.1,).
Required by:
org.knowrob.knowrob_plan_summary:knowrob_plan_summary:0.1.0

• Try:
  Run with --stacktrace option to get the stack trace. Run with --info or --debug option to get more log output.
  make[2]: *** [stacks/knowrob_addons/knowrob_memory_graph/CMakeFiles/gradle-knowrob_memory_graph] error 1
  make[1]: *** [stacks/knowrob_addons/knowrob_memory_graph/CMakeFiles/gradle-knowrob_memory_graph.dir/all] error 2
  make[2]: *** [stacks/knowrob_addons/knowrob_plan_summary/CMakeFiles/gradle-knowrob_plan_summary] error 1
  make[1]: *** [stacks/knowrob_addons/knowrob_plan_summary/CMakeFiles/gradle-knowrob_plan_summary.dir/all] error 2

FAILURE: Build failed with an exception.

• What went wrong:
  Could not resolve all dependencies for configuration ':knowrob_chemlab:compile'.

Could not find any version that matches org.knowrob.knowrob_cram:knowrob_cram:[0.1,).
Required by:
org.knowrob.knowrob_chemlab:knowrob_chemlab:1.0.0
Could not find any version that matches org.knowrob.knowrob_sim_games:knowrob_sim_games:[0.1,).
Required by:
org.knowrob.knowrob_chemlab:knowrob_chemlab:1.0.0

• Try:
  Run with --stacktrace option to get the stack trace. Run with --info or --debug option to get more log output.
  make[2]: *** [stacks/knowrob_addons/knowrob_chemlab/CMakeFiles/gradle-knowrob_chemlab] error 1
  make[1]: *** [stacks/knowrob_addons/knowrob_chemlab/CMakeFiles/gradle-knowrob_chemlab.dir/all] error 2

FAILURE: Build failed with an exception.

• What went wrong:
  Could not resolve all dependencies for configuration ':knowrob_openease:compile'.

Could not find any version that matches org.knowrob.knowrob_cram:knowrob_cram:[0.1,).
Required by:
org.knowrob.knowrob_openease:knowrob_openease:1.0.0

• Try:
  Run with --stacktrace option to get the stack trace. Run with --info or --debug option to get more log output.
  make[2]: *** [stacks/knowrob_addons/knowrob_openease/CMakeFiles/gradle-knowrob_openease] error 1
  make[1]: *** [stacks/knowrob_addons/knowrob_openease/CMakeFiles/gradle-knowrob_openease.dir/all] error 2
  make: *** [all] error 2
  Invoking "make -j8 -l8" failed
  ....................................................................................................................................................

I find the package knowrob_cram is located in the folder knowrob_addons,and the package knowrob_meshes, knowrob_memory_graph, knowrob_plan_summary, knowrob_chemlab, knowrob_openease are also located in the folder knowrob_addons.In addition,these packages are all depend on the package knowrob_cram.
As a result, when I catkin_make the workspace,the system could not resolve all dependencies for configuration?

Which one can help me solve the problem?
Thanks a lot!

Could it be due to the "belief_state" graph not being created properly?

While comp_spatial contains predicates for reasoning about spatial relations like 'in' or 'on' over time, it does not provide generic meta-predicates like 'holds(goal(), T)'

Story: code-iai/knowrob_backlog#7
Depends on: #39

• create tutorial about machine learning on knowrob.org
• use predicates that allow users to use the weka interface with episode data
• feature selection
• classification