/kb/add_fact#

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/kb/add_fact Quick Facts

Category

💡 Knowledge and reasoning

Message type

std_msgs/msg/String

Direction

⬅️ you normally publish to this topic.

Statements published to this topic are added to the knowledge base. The string must represent a <s, p, o> triple, with terms separated by a space.

See the KnowledgeCore API for details.

Quick snippets#

Publish data on the topic#
$ ros2 topic pub /kb/add_fact std_msgs/msg/String # press Tab twice to complete

How to use in your code#

Publish to the topic#
 1#!/usr/bin/env python
 2
 3import rclpy
 4from rclpy.node import Node
 5
 6from std_msgs.msg import String
 7
 8
 9class AddFactPublisher(Node):
10
11    def __init__(self):
12        super().__init__('kb_add_fact_publisher')
13        self.publisher = self.create_publisher(
14            String,
15            '/kb/add_fact',
16            10)
17        timer_period = 0.5  # seconds
18        self.timer = self.create_timer(timer_period, self.timer_callback)
19
20    def timer_callback(self):
21
22        msg = String()
23
24        # check https://docs.ros2.org/latest/api/std_msgs/msg/String.html
25        # for the msg structure
26        # msg.data = ...
27
28        self.publisher.publish(msg)
29        self.get_logger().info('Publishing: "%s"' % msg.data)
30
31
32if __name__ == '__main__':
33    rclpy.init(args=args)
34
35    publisher = AddFactPublisher()
36
37    rclpy.spin(publisher)
38
39    rclpy.shutdown()