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Note: This tutorial assumes that you have completed the previous tutorials: Standalone Rapp Manager.
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Configuring the Rapp Manager

Description: How to configure the rapp manager.

Tutorial Level: BEGINNER

Next Tutorial: Automatic Rapp Installation

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 environment, or the full rocon environment itself.

Launch Modules

The standalone.launch 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:

Launch Args

There are also many args that can be set. Most of these are fairly straightforward and the comments in standalone.launch 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.

   1 <launch>
   2   <include file="$(find rocon_app_manager)/launch/standalone.launch">
   3     <arg name="rapp_package_whitelist" default="[rocon_apps, my_rapps]"/> <!-- comma separated list of package names -->
   4   </include>
   5 </launch>

A Custom Icon

Use an icon with the following specifications:

The dimension is not a hard constraint - if it is different it will be rescaled. An example:

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.

   1 <launch>
   2   <include file="$(find rocon_app_manager)/launch/standalone.launch">
   3     <arg name="robot_name" value="barbarossa" />
   4     <arg name="robot_icon" value="rocon_app_manager/cybernetic_pirate.png" />
   5   </include>
   6 </launch>


2019-10-12 13:01