Fisrt, launch the ontoloGenius with the semantic_route_description's files:
$ roslaunch semantic_route_description route_ontology.launch
A graphical user interface will be launched, close ontoloGenius with the button "Close Ontology" at the bottom left.
Now, you can run the semantic_route_description:
$ rosrun semantic_route_description description
To get the route from ff_c3_begin to reima, call the getRoute service as follows:
$ rosservice call /semantic_route_description/get_route "{from_: 'ff_c3_begin', to: 'reima', personna: 'lambda'}"
To get the route from ff_c3_begin to reima only with regions and interfaces, call the getRouteRegion service as follows:
$ rosservice call /semantic_route_description/get_route_region "{from_: 'ff_c3_begin', to: 'reima', personna: 'lambda'}"
The services definition is the following:
string from
string to
string personna
---
Route[] routes
float32[] costs
For the personna parameter, you have six types of persona that you can combine with the _ delimiter:
- lambda
- disabled
- knowing
- notKnowing
- young
- old
The service will give you two arrays in return. Both arrays are the same size and give you a route (string array) and a cost for each corresponding route.