####################################
##FILL ME IN
####################################
## for a custom note with links:
## note =
## for the canned note of "This tutorial assumes that you have completed the 
## previous tutorials:" just add the links 
## note.0 = [[rocon_app_manager/Tutorials/indigo/Configuring the Rapp Manager|Configuring the Rapp Manager]]
## descriptive title for the tutorial
## title = Bring up Rapp Manager
## multi-line description to be displayed in search 
## description = describes what happens when you start rapp manager.
## the next tutorial description (optional)
## next =
## links to next tutorial (optional)
## next.0.link=[[rocon_app_manager/Tutorials/indigo/Start Rapp via QT Rapp Manager|Start Rapp via QT Rapp Manager]]
## next.1.link=
## what level user is this tutorial for 
## level= BeginnerCategory
## keywords = rocon rapp rappmanager app manager qt
####################################

<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

== Goal ==

This tutorial describe what you should expect when rocon app manager starts.

== Execute ==

=== Start rapp manager with your robot ===

{{{
 > roslaunch my_robot_bringup.launch --screen
}}}

<<SeeSaw(section="my_robot",toshow="my_robot_bringup.launch")>>

{{{{#!wiki seesaw my_robot
{{{#!highlight xml
<launch>
  <!-- Robot bringup -->
  <!-- Only Rapp Manager -->

  <!-- Rapp Manager -->  
  <!-- used as a unique identifier -->
  <arg name="robot_name"    default="Whoola"/>

  <!-- just in case you are considering a 'variant' and want to make use of this. -->
  <arg name="robot_type"    default="pc"/>

  <!-- Rocon Master Info -->
  <!--e.g) turtlebot_bringup/turtlebot2.png" -->
  <arg name="robot_icon"    default="rocon_icons/chimek.jpg"/>
  <!-- Describe your robot -->
  <arg name="robot_description"         default="Kick-ass ROS turtle"/>

  <!-- a list of catkin packages that provide rapps to be loaded by the app manager. -->
  <arg name="rapp_package_whitelist"    default="[rocon_apps]"/>
  <arg name="rapp_package_blacklist"    default="[]"/>

  <!-- Interactions --> 
  <!-- start an interactions manager -->
  <arg name="interactions"      default="false"/>
  <!-- a list of filenames that provide interactions specifications. -->
  <arg name="interactions_list" default="[]"/>

  <!-- Capabilities(Disabled) -->
  <!-- Zeroconf(Use default) -->

  <!-- Rapp Manager -->
  <include file="$(find rocon_app_manager)/launch/standalone.launch">
    <!-- Rapp Manager --> 
    <arg name="robot_name"                    value="$(arg robot_name)" />
    <arg name="robot_type"                    value="$(arg robot_type)" />
    <arg name="robot_icon"                    value="$(arg robot_icon)" />
    <arg name="robot_description"             value="$(arg robot_description)" />
    <arg name="rapp_package_whitelist"        value="$(arg rapp_package_whitelist)" />
    <arg name="rapp_package_blacklist"        value="$(arg rapp_package_blacklist)" />

    <!-- Interactions --> 
    <arg name="interactions"                  value="$(arg interactions)"/>
    <arg name="interactions_list"             value="$(arg interactions_list)"/>
  </include>
</launch>
}}}
}}}}

== Outputs ==

These are the outputs that you should expect.

=== Terminal ===

{{attachment:terminal.png|alt text|width=70%}}

== Rocon Master Info ==

{{{
 > rocon_master_info
}}}

{{attachment:chimek.png}}

== Available Topics/Services ==

'''Services'''
{{{
/app_manager/invite
/app_manager/list_rapps
/app_manager/platform_info
/app_manager/start_rapp
/app_manager/stop_rapp
}}}

'''Topics'''
{{{
/app_manager/incompatible_rapp_list
/app_manager/rapp_list
/app_manager/status
/gateway/force_update
/gateway/gateway_info
}}}

== What's Next ==

 * [[rocon_app_manager/Tutorials/indigo/Start Rapp via QT Rapp Manager|Start Rapp via QT Rapp Manager]] or return to [[rocon_app_platform|Main]].