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Introspect Rapps

Description: How to use the rapp tools

Keywords: rapp

Tutorial Level: INTERMEDIATE

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Overview

This tutorial describes how to use command line tools to introspect existing rapps.

Preparation

It is highly recommended to review Rapp Specification Document before move on. Also make sure you have installed either the rocon_app_platform environment, or the full rocon environment itself.

Command-line Tools

rocon_app list  display a list of cached rapps
rocon_app info  display rapp information
rocon_app rawinfo       display rapp raw information
rocon_app compat        display a list of rapps that are compatible with the given rocon uri
rocon_app help  Usage

rocon_app list

rocon_app list displays a full list of available rapps in ROS_PACKAGE_PATH with its compatibility and ancestor. It also discovers the invalid rapps with reason.

== Available Rapp List == 
  Resource: cafe_rapps/taskcoordinator
     - Compatibility : rocon:/pc 
     - Ancestor      : cafe_rapps/taskcoordinator 
  Resource: cafe_rapps/waiter_sim
     - Compatibility : rocon:/pc 
     - Ancestor      : cafe_rapps/waiter 
  Resource: turtle_concert/turtle_stroll
     - Compatibility : rocon:/pc 
     - Ancestor      : turtle_concert/turtle_stroll 
  Resource: rocon_apps/chirp
     - Compatibility : rocon:/ 
     - Ancestor      : rocon_apps/chirp 
  Resource: turtle_concert/teleop
     - Compatibility : rocon:/pc 
     - Ancestor      : rocon_apps/teleop 
  Resource: rocon_apps/listener
     - Compatibility : rocon:/ 
     - Ancestor      : rocon_apps/listener 
  Resource: cafe_rapps/map_database
     - Compatibility : rocon:/pc 
     - Ancestor      : cafe_rapps/map_database 
  Resource: rocon_apps/talker
     - Compatibility : rocon:/ 
     - Ancestor      : rocon_apps/talker 
== Invalid Rapp List == 
  cafe_rapps/waiter_waiterbot : failed to parse top-level args from rapp launch file [waiterbot_ctrl_cafe

rocon_app compat

rocon_app compat <ROCON_URI> displays a list of compatible rapps for given rocon_uri.

== Available Rapp List for [rocon:/pc] == 
  Resource: cafe_rapps/taskcoordinator
     - Ancestor : cafe_rapps/taskcoordinator 
  Resource: cafe_rapps/waiter_sim
     - Ancestor : cafe_rapps/waiter 
  Resource: turtle_concert/turtle_stroll
     - Ancestor : turtle_concert/turtle_stroll 
  Resource: rocon_apps/chirp
     - Ancestor : rocon_apps/chirp 
  Resource: turtle_concert/teleop
     - Ancestor : rocon_apps/teleop 
  Resource: rocon_apps/listener
     - Ancestor : rocon_apps/listener 
  Resource: cafe_rapps/map_database
     - Ancestor : cafe_rapps/map_database 
  Resource: rocon_apps/talker
     - Ancestor : rocon_apps/talker 
== Incompatible Rapp List for [rocon:/pc] == 
  cafe_rapps/waiter_waiterbot : rocon:/waiterbot
== Invalid Rapp List for [rocon:/pc] == 

rocon_app info

displays fully resolved specification of the given resource name

Displays rapp raw information
== turtle_concert/turtle_stroll - Implementation Ancestor ==
  description : The turtle strolls around the tank, drawing out a square.
  launch : /opt/ros/indigo/share/turtle_concert/rapps/turtle_stroll/turtle_stroll.launch
  public_parameters : {'square_scale': 1.0, 'turtle_z_vel': 0.4, 'turtle_x_vel': 1.0}
  display : Turtle Stroll
  public_interface : {'services': [], 'publishers': [], 'action_clients': [], 'subscribers': [], 'action_servers': []}
  compatibility : rocon:/pc
  icon : /opt/ros/indigo/share/turtle_concert/rapps/turtle_stroll/turtle_stroll.png

rocon_app rawinfo

displays raw rapp specification

Displays rapp raw information
== turtle_concert/teleop - Implementation Child ==
  parent_name : rocon_apps/teleop
  description : Take a turtlesim turtle for a teleop.
  launch : turtle_concert/teleop.launch
  icon : rocon_bubble_icons/turtle_teleop.png
  display : Turtle Teleop
  compatibility : rocon:/pc