Expose RDBMS (SQLite) data as SPARQL endpoint

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I am working on a demo for which I need to expose some data stored in the SQLite DB file as a SPARQL endpoint that can be queried. This doesn't have to be fancy at the moment just a way to expose static data as the RDF is fine for me.

I am wondering if anyone knows how to achieve this using any Open source or free tools available.

I understand that I might have to write r2rml mapping file and other configurations, however I am unable to find a way to do the same. I hear Apache Jena can do the trick, however can't find a good example on how to achieve this.

Does someone knows a good tutorial that shows how this can be achieved.

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After looking at various options, i found http://d2rq.org/ as the most easiest way to expose my RDBMS data as SPARQL endpoit.

Please follow the documentation on the portal, which is very generous on explaining how this can be achieved.