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.