Command-line interface¶

Triplestar extends the ROS 2 CLI. Every command therefore starts with ros2 triplestar, and the workspace containing triplestar_cli must be sourced first:

source /opt/ros/jazzy/setup.bash
source ~/ros2_ws/install/setup.bash
ros2 triplestar --help

Typical workflow¶

# See which bringup packages are installed
ros2 triplestar bringup list

# Launch one (this command stays in the foreground)
ros2 triplestar bringup launch my_robot_kb

# In a second sourced terminal
ros2 triplestar status
ros2 triplestar query list
ros2 triplestar query call count_triples

Command map¶

Command	Purpose
`ros2 triplestar bringup new`	Generate a bringup package
`ros2 triplestar bringup list`	List installed bringup packages
`ros2 triplestar bringup launch NAME`	Launch a bringup package
`ros2 triplestar status`	Show lifecycle state and triple count
`ros2 triplestar start`	Activate an inactive KB node
`ros2 triplestar stop`	Deactivate an active KB node
`ros2 triplestar query list`	List configured query services
`ros2 triplestar query info NAME`	Show a query's type and SPARQL text
`ros2 triplestar query call NAME`	Execute a configured query

Add --help after any command to see its current arguments.

Create a bringup package¶

With an active colcon workspace, the default output directory is its src/ directory:

ros2 triplestar bringup new --name my_robot_kb

Choose an explicit location when the workspace cannot be detected:

ros2 triplestar bringup new \
  --name my_robot_kb \
  --output-dir ~/ros2_ws/src

Build and source the generated package before it can be discovered:

cd ~/ros2_ws
colcon build --symlink-install --packages-select my_robot_kb
source install/setup.bash
ros2 triplestar bringup list

Launch a bringup package¶

Launch a custom bringup package:

ros2 triplestar bringup launch my_robot_kb

The launch command occupies the terminal until the launch is stopped. Use a second sourced terminal for status and query commands.

Work with query services¶

List query names for scripting with --plain:

ros2 triplestar query list --plain

Inspect and call a configured query:

ros2 triplestar query info objects_in_room
ros2 triplestar query call objects_in_room room='<http://example.org/kitchen>'

Substitutions use VARIABLE=RDF_TERM syntax. The value is an RDF term, so IRIs need angle brackets and strings need RDF quotes. Use --reasoning to override the call with reasoning enabled, or --timeout SECONDS for a slower query:

ros2 triplestar query call objects_in_room \
  --reasoning --timeout 30 \
  room='<http://example.org/kitchen>'

Target a non-default node¶

Lifecycle commands default to /triplestar_kb. Override that name with --node:

ros2 triplestar status --node /robot1/triplestar_kb
ros2 triplestar stop --node /robot1/triplestar_kb
ros2 triplestar start --node /robot1/triplestar_kb

start and stop activate and deactivate the lifecycle node; they do not launch or terminate its process.

Troubleshooting¶

ros2: error: argument command: invalid choice: 'triplestar': Build triplestar_cli, then source the workspace's install/setup.bash.
No bringup packages are listed: Build the bringup package and source the same workspace. Discovery uses the ROS 2 ament index, not the source directory alone.
The status command cannot find the node: Keep the bringup launch running, check ros2 node list, and pass --node if the KB is namespaced or renamed.
No query services are listed: Check that the node configured successfully and that the query_services list in config/triplestar.yaml contains entries.