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Fixed logger settings #19

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Merged
sasjonge merged 2 commits into from
May 26, 2025
Merged

Fixed logger settings #19

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19e6623
Added correct configuration for logger
sasjonge May 23, 2025
03357db
Extended export interface
sasjonge May 26, 2025
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23 changes: 21 additions & 2 deletions src/ROSInterface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,8 @@ ROSInterface::ROSInterface(const boost::property_tree::ptree &config)
this, _1), false),
tell_action_server_(nh_, "knowrob/tell", boost::bind(&ROSInterface::executeTellCB, this, _1), false),
kb_(KnowledgeBase::create(config)) {


// Start all action servers
askall_action_server_.start();
askone_action_server_.start();
Expand Down Expand Up @@ -349,7 +351,17 @@ void ROSInterface::executeTellCB(const TellGoalConstPtr &goal) {

bool ROSInterface::executeExportCB(ExportTriples::Request &req,
ExportTriples::Response &res) {
kb_->exportTo(req.path);
// If req.format is empty or rdfxml
if (req.format == "rdfxml") {
kb_->exportTo(req.path, semweb::RDF_XML);
} else if (req.format == "turtle") {
kb_->exportTo(req.path, semweb::TURTLE);
} else {
// If the format is not supported, return false
ROS_ERROR("Export format not supported: %s", req.format.c_str());
res.success = false;
return false;
}
res.success = true;
return true;
}
Expand All @@ -358,9 +370,16 @@ int main(int argc, char **argv) {
InitKnowRob(argc, argv);

// Load settings files
boost::property_tree::ptree config = InterfaceUtils::loadSettings();
// configure logging
auto log_config = config.get_child_optional("logging");
if (log_config) {
Logger::loadConfiguration(log_config.value());
}

try {
ros::init(argc, argv, "knowrob_node");
ROSInterface ros_interface(InterfaceUtils::loadSettings());
ROSInterface ros_interface(config);
KB_INFO("[KnowRob] ROS node started.");
ros::spin();
}
Expand Down
1 change: 1 addition & 0 deletions srv/ExportTriples.srv
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
string path
string format # 'turtle' or 'rdfxml'
---
# The result of the query
bool success