A package for making launch file an application
Run sudo apt-get install ros-$ROS_DISTRO-app-manager
The app_manager node loads information of available application from .installed files.
.installed file is a yaml file that defines installed applications in a package like below:
# package_root/apps/app.installed
apps:
- app: pkg_name/app_name1
display: sample app
- app: pkg_name/app_name2
display: another sample appOnce .installed file is defined, you have to notify the location of the files to app_manager by either of two ways:
- Give the locations as arguments
One way to notify the location is to add --applist argument with rosrun.
rosrun app_manager app_manager --applist `rospack find package_root`/appsThis is useful for testing one small .installed file or a demonstration.
- Register as export attributes
Another way to notify the location is to define them in <export> tag in package.xml.
<!-- package_root/package.xml -->
<package>
...
<run_depend>app_manager</run_depend>
...
<export>
<app_manager app_dir="${prefix}/apps"/>
</export>
</package>And launch app_manager without any argument:
rosrun app_manager app_managerapp_manager node automatically searches all .installed files and register as available applications.
Applications can be filtered by platform defined in each .app file.
If you set the parameter /robot/type to pr2, then apps for platform pr2 will be available.
rosparam set /robot/type pr2All topics/services are advertised under the namespace specified by the parameter /robot/name.
app_list: List available/running applicationsapplication/app_status: Current status of app manager
list_apps: List available/running applicationsstart_app: Start an available applicationstop_app: Stop a runniing applicationreload_app_list: Reload installed applications from*.installed) file.
Start default roscore
$ roscore
and start another roscore for app_manager from another Terminal
$ roscore -p 11312
Start app_manager
$ rosrun app_manager app_manager --applist `rospack find app_manager`/test/applist1 _interface_master:=http://localhost:11312
Make sure that it founds the apps
[INFO] [1575604033.724035]: 1 apps found in /home/user/catkin_ws/src/app_manager/test/applist1/apps1.installed
Use service calls to list and start apps.
$ rosservice call robot/list_apps
running_apps: []
available_apps:
-
name: "app_manager/appA"
display_name: "Android Joystick"
icon:
format: ''
data: []
client_apps: []
$ rosservice call /robot/start_app "name: 'app_manager/appA'
args:
- key: 'foo'
value: 'bar'"
started: True
error_code: 0
message: "app [app_manager/appA] started"
namespace: "/robot/application"You can define app_manager plugins as below in app file such as test.app.
# app definitions
display: Test app
platform: all
launch: test_app_manager/test_app.xml
interface: test_app_manager/test_app.interface
# plugin definitions
plugins:
- name: mail_notifier_plugin # name to identify this plugin
type: app_notifier/mail_notifier_plugin # plugin type
launch_args: # arguments for plugin launch file
foo: hello
launch_arg_yaml: /etc/mail_notifier_launch_arg.yaml # argument yaml file for plugin launch file
# in this case, these arguments will be passed.
# {"hoge": 100, "fuga": 30, "bar": 10} will be passed to start plugin
# {"hoge": 50, "fuga": 30} will be passed to stop plugin
plugin_args: # arguments for plugin function
hoge: 10
fuga: 30
start_plugin_args: # arguments for start plugin function
hoge: 100 # arguments for start plugin function arguments (it overwrites plugin_args hoge: 10 -> 100)
bar: 10
stop_plugin_args: # arguments for stop plugin function
hoge: 50 # arguments for stop plugin function arguments (it overwrites plugin_args hoge: 10 -> 50)
plugin_arg_yaml: /etc/mail_notifier_plugin_arg.yaml # argument yaml file for plugin function arguments
- name: rosbag_recorder_plugin # another plugin
type app_recorder/rosbag_recorder_plugin
launch_args:
rosbag_path: /tmp
rosbag_title: test.bag
compress: true
rosbag_topic_names:
- /rosout
- /tf
- /tf_static
plugin_order: # plugin running orders. if you don't set field, plugin will be run in order in plugins field
start_plugin_order: # start plugin running order
- rosbag_recorder_plugin # 1st plugin name
- mail_notifier_plugin #2nd plugin name
stop_plugin_order: # start plugin running order
- rosbag_recorder_plugin
- mail_notifier_pluginSample plugin repository is knorth55/app_manager_utils.
For more detailed information, please read #25.
Yuki Furuta <[email protected]>
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