## For instruction on writing tutorials ## http://www.ros.org/wiki/WritingTutorials #################################### ##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/Standalone Rapp Manager|Standalone Rapp Manager]] ## descriptive title for the tutorial ## title = Configuring the Rapp Manager ## multi-line description to be displayed in search ## description = How to configure the rapp manager. ## the next tutorial description (optional) ## next = ## links to next tutorial (optional) ## next.0.link=[[rocon_app_manager/Tutorials/indigo/Automatic Rapp Installation|Automatic Rapp Installation]] ## next.1.link= ## what level user is this tutorial for ## level= BeginnerCategory ## keywords = #################################### <<IncludeCSTemplate(TutorialCSHeaderTemplate)>> <<TableOfContents(4)>> == Overview == This tutorial shows how to configure a robot app manager launch for a standalone ros system. If you haven't already, make sure you have installed either the [[rocon_app_platform/Tutorials/indigo/Installation|rocon_app_platform environment]], or the full [[rocon/Tutorials/indigo/Installation|rocon environment]] itself. == Launch Modules == The [[https://github.com/robotics-in-concert/rocon_app_platform/blob/indigo/rocon_app_manager/launch/standalone.launch|standalone.launch|standalone rocon app manager launcher]] launches the core rocon app manager node as well as (optionally) a few highly correlated modules that work with the rapp manager. In the following list [C] indicates core modules and [O] optional modules: * '''[C] Rocon App Manager''' - the rocon app manager itself. * '''[C] Rocon Master Info''' - advertising your ros master information (see [[rocon_master_info]] * '''[O] Capabilities''' - if your rapps depend on [[capabilities]] this can be conveniently configured from here. * '''[O] Zeroconf''' - advertise your ros master on the lan so other tools can easily find the rapp manager * '''[O] Interactions''' - load up [[rocon_interactions]] to enable pairing with the rapp manager. == Launch Args == There are also many args that can be set. Most of these are fairly straightforward and the comments in [[https://github.com/robotics-in-concert/rocon_app_platform/blob/indigo/rocon_app_manager/launch/standalone.launch|standalone.launch|standalone rocon app manager launcher]] should suffice. == Customising a Launcher == To configure your own standalone rapp manager launcher, simply include the original and configure the required args. === Whitelisting your Rapps === The most important args are probably the whitelist/blacklist controls where you can constrain the rapps on the `ROS_PACKAGE_PATH` that are discoverable by the rapp manager. e.g. {{{#!xml <launch> <include file="$(find rocon_app_manager)/launch/standalone.launch"> <arg name="rapp_package_whitelist" default="[rocon_apps, my_rapps]"/> <!-- comma separated list of package names --> </include> </launch> }}} === A Custom Icon === Use an icon with the following specifications: * '''Format''': png, jpg * '''Dimension''': 120x120 recommended The dimension is not a hard constraint - if it is different it will be rescaled. An example: {{attachment:cybernetic_pirate.png}} Place the icon in a package of your choice and then pass it to the app manager as roslaunch argument specified by resource name (package/filename pair). e.g. {{{#!xml <launch> <include file="$(find rocon_app_manager)/launch/standalone.launch"> <arg name="robot_name" value="barbarossa" /> <arg name="robot_icon" value="rocon_app_manager/cybernetic_pirate.png" /> </include> </launch> }}} ## AUTOGENERATED DO NOT DELETE ## TutorialCategory ## FILL IN THE STACK TUTORIAL CATEGORY HERE