TriplestarKB

TriplestarKB is a ROS 2 enabled knowledge base backed by Oxigraph, a high-performance SPARQL graph database.

📖 Full documentation: https://kas-lab.github.io/triplestar_kb

Quick Start

Repo and dependencies

First, clone the current repo into the src folder of your ROS2 workspace.

cd src
git clone https://github.com/kas-lab/triplestar_kb.git 
cd ..

Secondly, install the needed dependencies via rosdep:

rosdep install -i --from-path src/triplestar_kb -r -y

Generate your own bringup package

TriplestarKB is configured on a per-scenario basis using bringup packages. To generate a new bringup package, run the following from your sourced workspace:

ros2 triplestar bringup new

You will be prompted for the package name. To skip the prompt, pass it with --name:

ros2 triplestar bringup new --name my_bringup

The generated package is placed in the src/ folder of the active colcon workspace automatically. To write somewhere other than the workspace src/, pass --output-dir:

ros2 triplestar bringup new --name my_bringup --output-dir /path/to/dir

Build the package

colcon build --symlink-install --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --packages-select {your_custom_bringup_name}

Running

After sourcing the workspace, run triplestar with your custom config using:

ros2 triplestar bringup launch {your_custom_brigup_name}

:info: As seen in the above snippets, the triplestar cli provides convenient commands for common operations.

Develop with pixi

pixi sets up ROS 2 Jazzy and all dependencies from RoboStack inside the checkout, without a system ROS install or a container. pixi.lock pins the environment for linux-64, linux-aarch64 and osx-arm64.

curl -fsSL https://pixi.sh/install.sh | sh  # install pixi once
pixi install                                # create the environment in .pixi/
pixi run build                              # colcon build into build/, install/, log/
pixi run test                               # run all package tests

The checkout is its own colcon workspace, so every clone or git worktree builds in isolation. To run the node, generate a bringup package in the checkout and launch it (launch rebuilds first):

pixi run ros2 triplestar bringup new --name my_bringup
pixi run launch my_bringup

pixi shell opens a shell with ROS and the built packages sourced, for commands like ros2 triplestar query list; after building inside it, run source install/local_setup.bash to pick up new packages. Do not source an apt-installed ROS setup.bash in that shell. Give each checkout its own ROS_DOMAIN_ID when running several side by side.

Contributing

Contributions are welcome. Please install pre-commit and enable the hooks once:

pip install pre-commit
pre-commit install

This runs ruff (lint + format) automatically on every commit.

• Pellissier Tanon, T. (n.d.). Oxigraph.

Acknowledgement

This work has received funding from the European Union's Horizon Europe research and innovation programme under grant agreement No 101070254 (CORESENSE). Views and opinions expressed are however those of the author(s) only and do not necessarily reflect those of the European Union or the European Commission. Neither the European Union nor the granting authority can be held responsible for them.