Only released in EOL distros:
rocon_app_platform: rocon_app_manager | rocon_app_manager_www | rocon_apps
Package Summary
Released
Documented
The public interface and retaskable interface for a robot.
- Maintainer status: developed
- Maintainer: Daniel Stonier <d.stonier AT gmail DOT com>, Jihoon Lee <jihoonlee.in AT gmail DOT com>
- Author: Daniel Stonier <d.stonier AT gmail DOT com>, Jihoon Lee <jihoonlee.in AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/robotics-in-concert/rocon_app_platform/issues
- Source: git https://github.com/robotics-in-concert/rocon_app_platform.git (branch: groovy-devel)
rocon_app_platform: rocon_app_manager | rocon_apps
Package Summary
Released
Documented
The public interface and retaskable interface for a robot.
- Maintainer status: developed
- Maintainer: Daniel Stonier <d.stonier AT gmail DOT com>, Jihoon Lee <jihoonlee.in AT gmail DOT com>
- Author: Daniel Stonier <d.stonier AT gmail DOT com>, Jihoon Lee <jihoonlee.in AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/robotics-in-concert/rocon_app_platform/issues
- Source: git https://github.com/robotics-in-concert/rocon_app_platform.git (branch: hydro)
rocon_app_platform: rocon_app_manager | rocon_app_utilities | rocon_apps
Package Summary
Released
Documented
The public interface and retaskable interface for a robot.
- Maintainer status: developed
- Maintainer: Daniel Stonier <d.stonier AT gmail DOT com>, Marcus Liebhardt <marcus.liebhardt AT yujinrobot DOT com>
- Author: Daniel Stonier, Jihoon Lee, Marcus Liebhardt
- License: BSD
- Bug / feature tracker: https://github.com/robotics-in-concert/rocon_app_platform/issues
- Source: git https://github.com/robotics-in-concert/rocon_app_platform.git (branch: release/0.7-indigo)
rocon_app_platform: rocon_app_manager | rocon_app_utilities | rocon_apps
Package Summary
Released
Documented
The public interface and retaskable interface for a robot.
- Maintainer status: developed
- Maintainer: Daniel Stonier <d.stonier AT gmail DOT com>, Marcus Liebhardt <marcus.liebhardt AT yujinrobot DOT com>
- Author: Daniel Stonier, Jihoon Lee, Marcus Liebhardt
- License: BSD
- Bug / feature tracker: https://github.com/robotics-in-concert/rocon_app_platform/issues
- Source: git https://github.com/robotics-in-concert/rocon_app_platform.git (branch: release/0.9-indigo-kinetic-gopher)
Contents
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 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.
platform_info (rocon_app_manager_msgs/GetPlatformInfo)
- Provide a description of the robot via a platform tuple.
- List apps that are available/installable on the robot.
- Status of the app manager (busy, idle, running an app or not).
- 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.
start_rapp (rocon_app_manager_msgs/StartRapp)
- Start the requested rapp.
- Stop the requested rapp.
Standalone Mode Launcher parameters
The list of arguments to use for standalone mode robot launcher. 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. 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
