• launch/multimaster.launch
  • Launch configuration for an app manager in multimaster mode. This exposes all the bells and whistles available for configuration. See concert_client.launch for an example which tunes it for a particular usage.
  • • robot_name [default: Cybernetic Pirate]
    • gateway_firewall [default: true] — default is not to let anything come into the robot
    • gateway_uuids [default: true] — all gateways represent their robots with unique uuid's postfixed to the name
    • gateway_watch_loop_period [default: 10] — the polling period for multimaster advertising/flipping
    • hub_whitelist [default: []] — list of hub names/regex patterns
    • hub_uri [default: ]
    • disable_zeroconf [default: false]
    • capabilities [default: false] — enable/disable a capability server
    • capabilities_parameters [default: $(find rocon_app_manager)/param/capabilities.yaml] — detailed parameter configuration for the providers
    • 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_server_name [default: capability_server]
    • auto_rapp_installation [default: false] — http://wiki.ros.org/rocon_app_manager/Tutorials/indigo/Automatic Rapp Installation
    • auto_start_rapp [default: ] — autostart a rapp, e.g. rocon_apps/chirp
    • local_remote_controllers_only [default: false] — allow remote control for local machine tests only
    • rapp_package_whitelist [default: [rocon_apps]] — comma separated list of package names
    • rapp_package_blacklist [default: []]
    • rapp_preferred_configuration_file [default: $(find rocon_app_manager)/param/preferred_default.yaml]
    • robot_type [default: pc]
    • robot_icon [default: rocon_icons/cybernetic_pirate.png]
    • screen [default: false] — verbose output from running apps
    • simulation [default: false] — if simulated robot
    • robot_description [default: To err is human, to 'arr is pirate.]
    • interactions [default: false]
    • interactions_list [default: []]
• launch/standalone.launch
  • Standard launch configuration for an app manager in standalone mode. i.e. no android, no multimaster concert. You should be able to play the basic apps (chirp and talker etc with this).
  • • capabilities [default: false] — enable/disable a capability server
    • capabilities_parameters [default: $(find rocon_app_manager)/param/capabilities.yaml] — detailed parameter configuration for the providers
    • 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_server_name [default: capability_server]
    • auto_rapp_installation [default: false] — http://wiki.ros.org/rocon_app_manager/Tutorials/indigo/Automatic Rapp Installation
    • auto_start_rapp [default: ] — autostart a rapp, e.g. rocon_apps/talker
    • rapp_package_whitelist [default: [rocon_apps]] — comma separated list of package names
    • rapp_package_blacklist [default: []]
    • rapp_preferred_configuration_file [default: $(find rocon_app_manager)/param/preferred_default.yaml]
    • robot_name [default: Cybernetic Pirate]
    • robot_type [default: pc]
    • robot_icon [default: rocon_icons/cybernetic_pirate.png]
    • screen [default: true] — verbose output from running apps
    • simulation [default: false] — if simulated robot
    • capability_server_name [default: $(arg capabilities_server_name)]
    • robot_description [default: To err is human, to 'arr is pirate.]
    • interactions [default: false]
    • interactions_list [default: []]
    • rosbridge_address [default: localhost]
    • rosbridge_port [default: 9090]
    • webserver_address [default: webapp.robotconcert.org]
    • zeroconf [default: false]
    • zeroconf_name [default: $(arg robot_name)]
    • zeroconf_port [default: 11311]
• launch/concert_client.launch
  • Standard launch configuration for an app manager used as a concert client. This provides meaningful arg names and fixes some args such as the firewall which shouldn't be modified in a concert setting.
  • • robot_description [default: To err is human, to 'arr is pirate.]
    • robot_name [default: Cybernetic Pirate]
    • robot_icon [default: rocon_icons/cybernetic_pirate.png]
    • robot_type [default: turtlebot]
    • robot_unique_name [default: true] — postfix a uuid to the robot name for uniqueness
    • rapp_auto_installation [default: false] — http://wiki.ros.org/rocon_app_manager/Tutorials/indigo/Automatic Rapp Installation
    • rapp_package_whitelist [default: [rocon_apps]] — comma separated list of package names
    • rapp_package_blacklist [default: []]
    • rapp_preferred_configuration_file [default: $(find rocon_app_manager)/param/preferred_default.yaml]
    • concert_whitelist [default: []] — list of concert names this robot will work with
    • local_machine_only [default: false] — only work with local concerts (testing, simulations)
    • concert_watch_period [default: 10] — the period used by gateways for watching concert connections
    • concert_uri [default: ] — configure concert hub uri for direct connection.
    • disable_zeroconf [default: false] — disable zeroconfiguration
    • screen [default: false] — verbose output from running apps
    • 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: $(find rocon_app_manager)/param/capabilities.yaml] — detailed parameter configuration for the providers
    • interactions [default: false]
    • interactions_list [default: []]
    • simulation [default: false] — if simulated robot
    • firewall [default: false] — typically false (don't let anything in), only for simulation clients
• launch/includes/_zeroconf.xml
  • This is only for the standalone launch of the app manager and useful only if you wish to automatically find the app manager in pairing mode interactions. If this configuration is enabled it will advertise the ros master directly on the local lan and the remocon's will use this to initiate the pairing connection.
  • • name [default: cybernetic_pirate]
    • port [default: 11311]
• launch/includes/_app_manager.xml
  • Default launch configuration for the app manager in paired or concert mode.
  • • robot_name [default: Cybernetic Pirate]
    • robot_type [default: turtlebot]
    • robot_icon [default: $(find rocon_app_manager)/icons/turtlebot.png]
    • use_gateway_uuids [default: true] — wait for gateway before setting up services under namespace with uuid
    • local_remote_controllers_only [default: false] — allow remote control for local machine tests only
    • rapp_package_whitelist [default: []] — comma separated list of package names
    • rapp_package_blacklist [default: []]
    • rapp_preferred_configuration_file [default: $(find rocon_app_manager)/param/preferred_default.yaml]
    • auto_start_rapp [default: ] — autostart a rapp, e.g. rocon_apps/chirp
    • screen [default: false] — verbose output from running apps
    • simulation [default: false] — is simulated robot in gazebo
    • capability_server_name [default: capability_server] — name of the capability server
    • auto_rapp_installation [default: false]
• launch/includes/_capabilities.xml
  • Enable a capability server in support of the rocon app manager. This is only necessary if you do not start capabilities yourself elsewhere.
  • • debug [default: false]
    • blacklist [default: []]
    • name [default: capability_server]
    • nodelet_manager_name [default: capability_server_nodelet_manager]
    • package_whitelist [default: [std_capabilities]]
    • parameters [default: $(find rocon_app_manager)/param/capabilities.yaml]
• launch/includes/_rocon_master_info.xml
  • • name [default: Cybernetic Pirate]
    • description [default: To err is human, to 'arr is pirate.]
    • icon [default: rocon_icons/cybernetic_pirate.png]
• launch/includes/_interactions.xml
  • Configure an interactions server to work in tandem with the rocon app manager. This is especially useful if you want to enable pairing of interactions with rapps.
  • • interactions_list [default: []]
    • rosbridge_address [default: localhost]
    • rosbridge_port [default: 9090]
    • webserver_address [default: localhost]
• launch/includes/_gateway.xml
  • Configurations for launching the gateway associated with a non-standalone app manager. We do default advertisements here (platform info etc), make sure it's firewalling and set a reasonable watcher loop period. It might be useful to set args for: - a flag to disable searching for the paired mode hub, if no pairing
  • • gateway_name [default: gateway]
    • gateway_watch_loop_period [default: 5]
    • gateway_firewall [default: true]
    • hub_whitelist [default: []]
    • hub_uri [default: ]
    • disable_uuids [default: false]
    • gateway_network_interface [default: $(optenv GATEWAY_NETWORK_INTERFACE)]
    • disable_zeroconf [default: false]

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