<> <> == Overview == Designed as an upgrade to the 2011 app manager used on turtlebots and pr2's. == Current Implementation == === Features === The current version is a 0.7 version . It has the following features: * Advertises handles for `/platform_info`, `/list_rapps`, `/status` and `/invite` to external, gateway based ros systems. * When invited, it will flip `/start_rapp` and `/stop_rapp` services across to the ros system doing the inviting (the ''remote controller''). * Launches and manages a single rapp (robot/rocon app) at a single time. * Flips the rapp specified connections to the ''remote controller''. === Advertised Services === These services are freely shared to any ros subsystem that wants to consume them via the [[rocon_gateway|gateway's]] advertise/pull mechanisms. The purpose is to provide introspection to the robot (i.e. the system that runs the app manager) to make a decision as to whether it wishes to assume control of the robot. Assuming control is managed by making a request to invite the robot. {{{ #!clearsilver CS/NodeAPI srv{ no_header=True 1{ name = platform_info type = rocon_app_manager_msgs/GetPlatformInfo desc = Provide a description of the robot via a platform tuple. } 2{ name = list_rapps type = rocon_app_manager_msgs/GetRappList desc = List apps that are available/installable on the robot. } 3{ name = status type = rocon_app_manager_msgs/Status desc = Status of the app manager (busy, idle, running an app or not). } 4{ name = invite type = rocon_app_manager_msgs/Invite desc = Request to assume control of the app manager (start_rapp, stop_rapp). } }}} === Controller Services === These services are only flipped after an invitation has been made. {{{ #!clearsilver CS/NodeAPI srv{ no_header=True 1{ name = start_rapp type = rocon_app_manager_msgs/StartRapp desc = Start the requested rapp. } 2{ name = stop_rapp type = rocon_app_manager_msgs/StopRapp desc = Stop the requested rapp. } }}} == Standalone Mode Launcher parameters == The list of arguments to use for standalone mode robot launcher. [[https://github.com/robotics-in-concert/rocon_app_platform/blob/indigo/rocon_app_manager/launch/standalone.launch|rocon_app_manager/standalone.launch]] {{{ Required Arguments: auto_start_rapp: autostart a rapp, e.g. rocon_apps/talker Optional Arguments: auto_rapp_installation (default "false"): http://wiki.ros.org/rocon_app_manager/Tutorials/indigo/Automatic Rapp Installation capabilities (default "false"): enable/disable a capability server capabilities_blacklist (default "[]"): blacklist specific capabilities capabilities_nodelet_manager_name (default "capability_server_nodelet_manager") capabilities_package_whitelist (default "[std_capabilities]"): get capabilities from these packages only capabilities_parameters (default "/opt/ros/indigo/share/rocon_app_manager/param/capabilities.yaml"): detailed parameter configuration for the providers capabilities_server_name (default "capability_server") interactions (default "false") interactions_list (default "[]") rapp_package_blacklist (default "[]") rapp_package_whitelist (default "[rocon_apps]"): comma separated list of package names rapp_preferred_configuration_file (default "/opt/ros/indigo/share/rocon_app_manager/param/preferred_default.yaml") robot_description (default "To err is human, to 'arr is pirate.") robot_icon (default "rocon_icons/cybernetic_pirate.png") robot_name (default "Cybernetic Pirate") robot_type (default "pc") rosbridge_address (default "localhost") rosbridge_port (default "9090") screen (default "true"): verbose output from running apps simulation (default "false"): if simulated robot zeroconf (default "false") zeroconf_name (default "Cybernetic Pirate") zeroconf_port (default "11311") }}} == Concert Mode Launcher parameters == The list of arguments to use for concert mode robot launcher. [[https://github.com/robotics-in-concert/rocon_app_platform/blob/indigo/rocon_app_manager/launch/standalone.launch|rocon_app_manager/concert_client.launch]] {{{ Required Arguments: concert_uri: configure concert hub uri for direct connection. Optional Arguments: capabilities (default "false"): enables/disables a default capability server in this concert client capabilities_blacklist (default "[]"): blacklist specific capabilities capabilities_package_whitelist (default "[]"): get capabilities from these packages only (e.g. std_capabilities) capabilities_parameters (default "/opt/ros/indigo/share/rocon_app_manager/param/capabilities.yaml"): detailed parameter configuration for the providers concert_watch_period (default "10"): the period used by gateways for watching concert connections concert_whitelist (default "[]"): list of concert names this robot will work with disable_zeroconf (default "false"): disable zeroconfiguration firewall (default "false"): typically false (don't let anything in), only for simulation clients interactions (default "false") interactions_list (default "[]") local_machine_only (default "false"): only work with local concerts (testing, simulations) rapp_auto_installation (default "false"): http://wiki.ros.org/rocon_app_manager/Tutorials/indigo/Automatic Rapp Installation rapp_package_blacklist (default "[]") rapp_package_whitelist (default "[rocon_apps]"): comma separated list of package names rapp_preferred_configuration_file (default "/opt/ros/indigo/share/rocon_app_manager/param/preferred_default.yaml") robot_description (default "To err is human, to 'arr is pirate.") robot_icon (default "rocon_icons/cybernetic_pirate.png") robot_name (default "Cybernetic Pirate") robot_type (default "turtlebot") robot_unique_name (default "true"): postfix a uuid to the robot name for uniqueness screen (default "false"): verbose output from running apps simulation (default "false"): if simulated robot }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage