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+# knowrob_tiago_dual
+This repository contains a simple exame of a KnowRob 2.0 package that defines a simple ontology for a retail scenario at AIRLab Delft and a ROS node to control a [simulation of the AIRLab tiago robot](https://gitlab.tudelft.nl/cor/ro47014/retail_store_lightweight_sim). It uses KnowRob to perform queries on the ontology and drive a simple sense-act control loop for a pick and place task.
+
+**Note**:This repository is based on the example: https://github.com/ipa-hsd/knowrob_moveit
+
+# Installation  
+Follow `KnowRob` installation steps: https://github.com/knowrob/knowrob to install KnowRob in your ROS workspace.
+
+### Install robot simulation
+Follow the instructions at https://gitlab.tudelft.nl/cor/ro47014/retail_store_lightweight_sim to install the simulation in your ROS workspace.
+
+#### Clone `knowrob_tiago_dual` package in your workspace
+```
+cd <path/to/workspace/src>
+git clone https://github.com/chcorbato/knowrob_tiago_dual
+cd ..
+source /opt/ros/melodic/setup.bash 
+catkin b
+source devel/setup.bash and build again
+```
+
+# Usage
+```
+# Terminal 1
+sudo systemctl start mongod.service
+roslaunch knowrob knowrob.launch
+
+# Terminal 2
+$ rosrun knowrob_tiago_dual knowrob_tiago_dual
+```
+
+## Debugging database and reasoning
+A convenient method to debug what is going on in the KnowRob DB is to use [`rosprolog_commandline`](https://github.com/knowrob/rosprolog/blob/527e791b917490357bdfb7421becf66984a4cece/README.md#rosprolog-node-console)
+
+```
+rosrun rosprolog rosprolog_commandline.py
+```
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