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app_manager package from app_manager repo

app_manager

Package Summary

Tags No category tags.
Version 1.2.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pr2/app_manager.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2021-03-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

app_manager

Additional Links

Maintainers

  • ROS Orphaned Package Maintainers

Authors

  • Jeremy Leibs
  • Ken Conley
  • Yuki Furuta

app_manager Build Status

A package for making launch file an application

Installation

Run sudo apt-get install ros-$ROS_DISTRO-app-manager

Usage

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 app

Once .installed file is defined, you have to notify the location of the files to app_manager by either of two ways:

  1. 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`/apps

This is useful for testing one small .installed file or a demonstration.

  1. 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_manager

app_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 pr2

APIs

All topics/services are advertised under the namespace specified by the parameter /robot/name.

Publishing Topics

  • app_list: List available/running applications
  • application/app_status: Current status of app manager

Services

  • list_apps: List available/running applications
  • start_app: Start an available application
  • stop_app: Stop a runniing application
  • reload_app_list: Reload installed applications from *.installed) file.

Examples

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 app_manager/appA
started: True
error_code: 0
message: "app [app_manager/appA] started"
namespace: "/robot/application"

Plugins

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_plugin

Sample plugin repository is knorth55/app_manager_utils.

For more detailed information, please read #25.

Maintainer

Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>

CHANGELOG

Changelog for package app_manager

1.2.0 (2021-03-03)

  • Merge pull request #29 from knorth55/add-stopped
  • Merge pull request #28 from knorth55/add-timeout
  • Merge pull request #30 from knorth55/add-all-availables add available_apps in all platform apps
  • add available_apps in all platform apps
  • add stopped context in app_manager plugin
  • add timeout field in app file
  • add enable_app_replacement param in app_manager (#26) This allows for both behaviors (replace currently running app or error out) and let\'s users choose without changing code...
  • add noetic test and also checks python 2/3 compatibility (#24)

    • add noetic test and also checks python 2/3 compatibility
    • fix to support both python 2/3

    * use rospy.log** instead of print Co-authored-by: Shingo Kitagawa <shingogo@hotmail.co.jp>

  • Add app manager plugin (#25) Enable aspect-oriented modelling, e.g.

    • send a mail when someone starts an app
    • auto-record rosbags during app run

    - auto-upload files on app-close ... - start plugin launch in app_manager - start and stop plugin function - pass app in plugin functions - add exit_code in stop_plugin_attr - stop plugin functions when shutdown is called - launch when plugin - load plugin launch when it exists - use ctx instead of exit_code - pass exit_code to ctx - add plugins in AppDefinition - add _current_plugins and _plugin_context - pass launch arguments - add plugin_args for app plugins - overwrite roslaunch.config.load_config_default for kinetic - add __stop_current for shutdown and __stop_current - support \"module: null\" syntax for app definition - add app_manager plugin base class - refactor scripts/app_manager - add start_plugin_args and stop_plugin_args - add start_plugin_arg_yaml and stop_plugin_arg_yaml - add launch_arg_yaml - add plugin_order to set plugin order - update readme to add plugin doc - update readme to add app definitions

  • fix readme (#23)

  • add exit_code log in app_manager (#22) add exit_code log in app_manager During successful execution, dead_list should always end up empty.

  • add all platform for all robots (#17) add an additional keyword to explicitly support \'all\' platforms

  • use rospack to search for app_manager app_dir (#19)

    • use rospack to search for app_manager app_dir
    • remove unused imports
    • use both --applist and plugin app_dir
  • Merge pull request #20 from knorth55/fix-print-python3 use rospy.logerr to escape print error in python3

  • use rospy.logerr to escape print error in python3

  • Contributors: Kei Okada, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • test/resources/example-min.launch
  • launch/app_manager.launch
      • master [default: true] — launch master if enabled
      • master_address [default: localhost] — address for app_manager master
      • master_port [default: 11313] — port for app_manager master
      • use_applist [default: false] — load apps from applist argument
      • applist [default: ] — app dirs (space separated)
      • respawn [default: false] — respawn app_manager
      • app_manager_args [default: --applist $(arg applist)]
      • app_manager_args [default: ]

Plugins

No plugins found.

Recent questions tagged app_manager at answers.ros.org

app_manager package from app_manager repo

app_manager

Package Summary

Tags No category tags.
Version 1.2.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pr2/app_manager.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2021-03-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

app_manager

Additional Links

Maintainers

  • ROS Orphaned Package Maintainers

Authors

  • Jeremy Leibs
  • Ken Conley
  • Yuki Furuta

app_manager Build Status

A package for making launch file an application

Installation

Run sudo apt-get install ros-$ROS_DISTRO-app-manager

Usage

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 app

Once .installed file is defined, you have to notify the location of the files to app_manager by either of two ways:

  1. 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`/apps

This is useful for testing one small .installed file or a demonstration.

  1. 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_manager

app_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 pr2

APIs

All topics/services are advertised under the namespace specified by the parameter /robot/name.

Publishing Topics

  • app_list: List available/running applications
  • application/app_status: Current status of app manager

Services

  • list_apps: List available/running applications
  • start_app: Start an available application
  • stop_app: Stop a runniing application
  • reload_app_list: Reload installed applications from *.installed) file.

Examples

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 app_manager/appA
started: True
error_code: 0
message: "app [app_manager/appA] started"
namespace: "/robot/application"

Plugins

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_plugin

Sample plugin repository is knorth55/app_manager_utils.

For more detailed information, please read #25.

Maintainer

Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>

CHANGELOG

Changelog for package app_manager

1.2.0 (2021-03-03)

  • Merge pull request #29 from knorth55/add-stopped
  • Merge pull request #28 from knorth55/add-timeout
  • Merge pull request #30 from knorth55/add-all-availables add available_apps in all platform apps
  • add available_apps in all platform apps
  • add stopped context in app_manager plugin
  • add timeout field in app file
  • add enable_app_replacement param in app_manager (#26) This allows for both behaviors (replace currently running app or error out) and let\'s users choose without changing code...
  • add noetic test and also checks python 2/3 compatibility (#24)

    • add noetic test and also checks python 2/3 compatibility
    • fix to support both python 2/3

    * use rospy.log** instead of print Co-authored-by: Shingo Kitagawa <shingogo@hotmail.co.jp>

  • Add app manager plugin (#25) Enable aspect-oriented modelling, e.g.

    • send a mail when someone starts an app
    • auto-record rosbags during app run

    - auto-upload files on app-close ... - start plugin launch in app_manager - start and stop plugin function - pass app in plugin functions - add exit_code in stop_plugin_attr - stop plugin functions when shutdown is called - launch when plugin - load plugin launch when it exists - use ctx instead of exit_code - pass exit_code to ctx - add plugins in AppDefinition - add _current_plugins and _plugin_context - pass launch arguments - add plugin_args for app plugins - overwrite roslaunch.config.load_config_default for kinetic - add __stop_current for shutdown and __stop_current - support \"module: null\" syntax for app definition - add app_manager plugin base class - refactor scripts/app_manager - add start_plugin_args and stop_plugin_args - add start_plugin_arg_yaml and stop_plugin_arg_yaml - add launch_arg_yaml - add plugin_order to set plugin order - update readme to add plugin doc - update readme to add app definitions

  • fix readme (#23)

  • add exit_code log in app_manager (#22) add exit_code log in app_manager During successful execution, dead_list should always end up empty.

  • add all platform for all robots (#17) add an additional keyword to explicitly support \'all\' platforms

  • use rospack to search for app_manager app_dir (#19)

    • use rospack to search for app_manager app_dir
    • remove unused imports
    • use both --applist and plugin app_dir
  • Merge pull request #20 from knorth55/fix-print-python3 use rospy.logerr to escape print error in python3

  • use rospy.logerr to escape print error in python3

  • Contributors: Kei Okada, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • test/resources/example-min.launch
  • launch/app_manager.launch
      • master [default: true] — launch master if enabled
      • master_address [default: localhost] — address for app_manager master
      • master_port [default: 11313] — port for app_manager master
      • use_applist [default: false] — load apps from applist argument
      • applist [default: ] — app dirs (space separated)
      • respawn [default: false] — respawn app_manager
      • app_manager_args [default: --applist $(arg applist)]
      • app_manager_args [default: ]

Plugins

No plugins found.

Recent questions tagged app_manager at answers.ros.org

app_manager package from app_manager repo

app_manager

Package Summary

Tags No category tags.
Version 1.2.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pr2/app_manager.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2021-03-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

app_manager

Additional Links

Maintainers

  • ROS Orphaned Package Maintainers

Authors

  • Jeremy Leibs
  • Ken Conley
  • Yuki Furuta

app_manager Build Status

A package for making launch file an application

Installation

Run sudo apt-get install ros-$ROS_DISTRO-app-manager

Usage

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 app

Once .installed file is defined, you have to notify the location of the files to app_manager by either of two ways:

  1. 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`/apps

This is useful for testing one small .installed file or a demonstration.

  1. 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_manager

app_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 pr2

APIs

All topics/services are advertised under the namespace specified by the parameter /robot/name.

Publishing Topics

  • app_list: List available/running applications
  • application/app_status: Current status of app manager

Services

  • list_apps: List available/running applications
  • start_app: Start an available application
  • stop_app: Stop a runniing application
  • reload_app_list: Reload installed applications from *.installed) file.

Examples

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 app_manager/appA
started: True
error_code: 0
message: "app [app_manager/appA] started"
namespace: "/robot/application"

Plugins

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_plugin

Sample plugin repository is knorth55/app_manager_utils.

For more detailed information, please read #25.

Maintainer

Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>

CHANGELOG

Changelog for package app_manager

1.2.0 (2021-03-03)

  • Merge pull request #29 from knorth55/add-stopped
  • Merge pull request #28 from knorth55/add-timeout
  • Merge pull request #30 from knorth55/add-all-availables add available_apps in all platform apps
  • add available_apps in all platform apps
  • add stopped context in app_manager plugin
  • add timeout field in app file
  • add enable_app_replacement param in app_manager (#26) This allows for both behaviors (replace currently running app or error out) and let\'s users choose without changing code...
  • add noetic test and also checks python 2/3 compatibility (#24)

    • add noetic test and also checks python 2/3 compatibility
    • fix to support both python 2/3

    * use rospy.log** instead of print Co-authored-by: Shingo Kitagawa <shingogo@hotmail.co.jp>

  • Add app manager plugin (#25) Enable aspect-oriented modelling, e.g.

    • send a mail when someone starts an app
    • auto-record rosbags during app run

    - auto-upload files on app-close ... - start plugin launch in app_manager - start and stop plugin function - pass app in plugin functions - add exit_code in stop_plugin_attr - stop plugin functions when shutdown is called - launch when plugin - load plugin launch when it exists - use ctx instead of exit_code - pass exit_code to ctx - add plugins in AppDefinition - add _current_plugins and _plugin_context - pass launch arguments - add plugin_args for app plugins - overwrite roslaunch.config.load_config_default for kinetic - add __stop_current for shutdown and __stop_current - support \"module: null\" syntax for app definition - add app_manager plugin base class - refactor scripts/app_manager - add start_plugin_args and stop_plugin_args - add start_plugin_arg_yaml and stop_plugin_arg_yaml - add launch_arg_yaml - add plugin_order to set plugin order - update readme to add plugin doc - update readme to add app definitions

  • fix readme (#23)

  • add exit_code log in app_manager (#22) add exit_code log in app_manager During successful execution, dead_list should always end up empty.

  • add all platform for all robots (#17) add an additional keyword to explicitly support \'all\' platforms

  • use rospack to search for app_manager app_dir (#19)

    • use rospack to search for app_manager app_dir
    • remove unused imports
    • use both --applist and plugin app_dir
  • Merge pull request #20 from knorth55/fix-print-python3 use rospy.logerr to escape print error in python3

  • use rospy.logerr to escape print error in python3

  • Contributors: Kei Okada, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • test/resources/example-min.launch
  • launch/app_manager.launch
      • master [default: true] — launch master if enabled
      • master_address [default: localhost] — address for app_manager master
      • master_port [default: 11313] — port for app_manager master
      • use_applist [default: false] — load apps from applist argument
      • applist [default: ] — app dirs (space separated)
      • respawn [default: false] — respawn app_manager
      • app_manager_args [default: --applist $(arg applist)]
      • app_manager_args [default: ]

Plugins

No plugins found.

Recent questions tagged app_manager at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.

app_manager package from app_manager repo

app_manager

Package Summary

Tags No category tags.
Version 1.2.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pr2/app_manager.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2021-03-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

app_manager

Additional Links

Maintainers

  • ROS Orphaned Package Maintainers

Authors

  • Jeremy Leibs
  • Ken Conley
  • Yuki Furuta

app_manager Build Status

A package for making launch file an application

Installation

Run sudo apt-get install ros-$ROS_DISTRO-app-manager

Usage

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 app

Once .installed file is defined, you have to notify the location of the files to app_manager by either of two ways:

  1. 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`/apps

This is useful for testing one small .installed file or a demonstration.

  1. 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_manager

app_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 pr2

APIs

All topics/services are advertised under the namespace specified by the parameter /robot/name.

Publishing Topics

  • app_list: List available/running applications
  • application/app_status: Current status of app manager

Services

  • list_apps: List available/running applications
  • start_app: Start an available application
  • stop_app: Stop a runniing application
  • reload_app_list: Reload installed applications from *.installed) file.

Examples

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 app_manager/appA
started: True
error_code: 0
message: "app [app_manager/appA] started"
namespace: "/robot/application"

Plugins

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_plugin

Sample plugin repository is knorth55/app_manager_utils.

For more detailed information, please read #25.

Maintainer

Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>

CHANGELOG

Changelog for package app_manager

1.2.0 (2021-03-03)

  • Merge pull request #29 from knorth55/add-stopped
  • Merge pull request #28 from knorth55/add-timeout
  • Merge pull request #30 from knorth55/add-all-availables add available_apps in all platform apps
  • add available_apps in all platform apps
  • add stopped context in app_manager plugin
  • add timeout field in app file
  • add enable_app_replacement param in app_manager (#26) This allows for both behaviors (replace currently running app or error out) and let\'s users choose without changing code...
  • add noetic test and also checks python 2/3 compatibility (#24)

    • add noetic test and also checks python 2/3 compatibility
    • fix to support both python 2/3

    * use rospy.log** instead of print Co-authored-by: Shingo Kitagawa <shingogo@hotmail.co.jp>

  • Add app manager plugin (#25) Enable aspect-oriented modelling, e.g.

    • send a mail when someone starts an app
    • auto-record rosbags during app run

    - auto-upload files on app-close ... - start plugin launch in app_manager - start and stop plugin function - pass app in plugin functions - add exit_code in stop_plugin_attr - stop plugin functions when shutdown is called - launch when plugin - load plugin launch when it exists - use ctx instead of exit_code - pass exit_code to ctx - add plugins in AppDefinition - add _current_plugins and _plugin_context - pass launch arguments - add plugin_args for app plugins - overwrite roslaunch.config.load_config_default for kinetic - add __stop_current for shutdown and __stop_current - support \"module: null\" syntax for app definition - add app_manager plugin base class - refactor scripts/app_manager - add start_plugin_args and stop_plugin_args - add start_plugin_arg_yaml and stop_plugin_arg_yaml - add launch_arg_yaml - add plugin_order to set plugin order - update readme to add plugin doc - update readme to add app definitions

  • fix readme (#23)

  • add exit_code log in app_manager (#22) add exit_code log in app_manager During successful execution, dead_list should always end up empty.

  • add all platform for all robots (#17) add an additional keyword to explicitly support \'all\' platforms

  • use rospack to search for app_manager app_dir (#19)

    • use rospack to search for app_manager app_dir
    • remove unused imports
    • use both --applist and plugin app_dir
  • Merge pull request #20 from knorth55/fix-print-python3 use rospy.logerr to escape print error in python3

  • use rospy.logerr to escape print error in python3

  • Contributors: Kei Okada, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • test/resources/example-min.launch
  • launch/app_manager.launch
      • master [default: true] — launch master if enabled
      • master_address [default: localhost] — address for app_manager master
      • master_port [default: 11313] — port for app_manager master
      • use_applist [default: false] — load apps from applist argument
      • applist [default: ] — app dirs (space separated)
      • respawn [default: false] — respawn app_manager
      • app_manager_args [default: --applist $(arg applist)]
      • app_manager_args [default: ]

Plugins

No plugins found.

Recent questions tagged app_manager at answers.ros.org

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app_manager package from app_manager repo

app_manager

Package Summary

Tags No category tags.
Version 1.0.4
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pr2/app_manager.git
VCS Type git
VCS Version hydro-devel
Last Updated 2018-02-14
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

app_manager

Additional Links

Maintainers

  • ROS Orphaned Package Maintainers

Authors

  • Jeremy Leibs
  • Ken Conley
README
No README found. No README in repository either.
CHANGELOG

Changelog for package app_manager

1.0.3 (2015-02-06)

1.0.2 (2014-10-14)

  • changelogs
  • Fixed installs on app_manager
  • Contributors: TheDash
  • Fixed installs on app_manager
  • Contributors: TheDash

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Recent questions tagged app_manager at answers.ros.org

app_manager package from app_manager repo

app_manager

Package Summary

Tags No category tags.
Version 1.0.4
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pr2/app_manager.git
VCS Type git
VCS Version hydro-devel
Last Updated 2018-02-14
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

app_manager

Additional Links

Maintainers

  • ROS Orphaned Package Maintainers

Authors

  • Jeremy Leibs
  • Ken Conley
README
No README found. No README in repository either.
CHANGELOG

Changelog for package app_manager

1.0.3 (2015-02-06)

1.0.2 (2014-10-14)

  • changelogs
  • Fixed installs on app_manager
  • Contributors: TheDash
  • Fixed installs on app_manager
  • Contributors: TheDash

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Recent questions tagged app_manager at answers.ros.org