| Note: This tutorial assumes that you have completed the previous tutorials: Configuring the Rapp Manager. |
 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Bring up Rapp Manager
Description: describes what happens when you start rapp manager.Keywords: rocon rapp rappmanager app manager qt
Tutorial Level: BEGINNER
Next Tutorial: Start Rapp via QT Rapp Manager
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
1 <launch>
2 <!-- Robot bringup -->
3 <!-- Only Rapp Manager -->
4
5 <!-- Rapp Manager -->
6 <!-- used as a unique identifier -->
7 <arg name="robot_name" default="Whoola"/>
8
9 <!-- just in case you are considering a 'variant' and want to make use of this. -->
10 <arg name="robot_type" default="pc"/>
11
12 <!-- Rocon Master Info -->
13 <!--e.g) turtlebot_bringup/turtlebot2.png" -->
14 <arg name="robot_icon" default="rocon_icons/chimek.jpg"/>
15 <!-- Describe your robot -->
16 <arg name="robot_description" default="Kick-ass ROS turtle"/>
17
18 <!-- a list of catkin packages that provide rapps to be loaded by the app manager. -->
19 <arg name="rapp_package_whitelist" default="[rocon_apps]"/>
20 <arg name="rapp_package_blacklist" default="[]"/>
21
22 <!-- Interactions -->
23 <!-- start an interactions manager -->
24 <arg name="interactions" default="false"/>
25 <!-- a list of filenames that provide interactions specifications. -->
26 <arg name="interactions_list" default="[]"/>
27
28 <!-- Capabilities(Disabled) -->
29 <!-- Zeroconf(Use default) -->
30
31 <!-- Rapp Manager -->
32 <include file="$(find rocon_app_manager)/launch/standalone.launch">
33 <!-- Rapp Manager -->
34 <arg name="robot_name" value="$(arg robot_name)" />
35 <arg name="robot_type" value="$(arg robot_type)" />
36 <arg name="robot_icon" value="$(arg robot_icon)" />
37 <arg name="robot_description" value="$(arg robot_description)" />
38 <arg name="rapp_package_whitelist" value="$(arg rapp_package_whitelist)" />
39 <arg name="rapp_package_blacklist" value="$(arg rapp_package_blacklist)" />
40
41 <!-- Interactions -->
42 <arg name="interactions" value="$(arg interactions)"/>
43 <arg name="interactions_list" value="$(arg interactions_list)"/>
44 </include>
45 </launch>
Outputs
These are the outputs that you should expect.
Terminal
Rocon Master Info
> rocon_master_info
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
Start Rapp via QT Rapp Manager or return to Main.
