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rwt_app_chooser package from visualization_rwt repo

rwt_app_chooser rwt_image_view rwt_moveit rwt_plot rwt_robot_monitor rwt_speech_recognition rwt_utils_3rdparty visualization_rwt

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Package Summary

Tags No category tags.
Version 0.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tork-a/visualization_rwt.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2019-02-22
Dev Status DEVELOPED
Released UNRELEASED

Package Description

The simple web frontend for app_manager

Additional Links

No additional links.

Maintainers

  • Yuki Furuta

Authors

  • Yuki Furuta
rwt_app_chooser/README.md

rwt_app_chooser

App chooser client for web browsing device

Usage

  1. (On Robot) Launch app manager
    roscore &
    rosparam set robot/type pr2     # set robot type as rosparam
    rosparam set robot/name pr1012  # set robot name as rosparam
    roslaunch rwt_app_chooser app_manager.launch


You can use custom installed app list by:

    roslaunch rwt_app_chooser app_manager.launch app_list:=/path/to/applist_dir
  1. (On Server) Launch rwt_app_chooser server
    roslaunch rwt_app_chooser rwt_app_chooser.launch


This can be run on the robot
  1. You can now access to rwt_app_chooser page from http://localhost:8000/rwt_app_chooser/

You will see following main page, then add "ADD ROBOT" button.

rwt_app_chooser_main.png

Then You will see following task launch page

rwt_app_chooser_task.png

Register Your App (Optional)

This section explains how to register your app to app chooser.

Prerequisities

  • Your desired app name (e.g. myapp)
  • Your own package (e.g. mypkg)
  • Your own launch file (e.g. myapp.launch)
  • Image for icon (e.g. myapp.png)

Create an App

  1. First, locate your package, then create apps directory
    roscd mypkg
    mkdir apps && cd apps
  1. Next, create a directory of your desired application and put launch / icon files there.
    mkdir myapp
    cp /path/to/myapp.launch myapp
    cp /path/to/myapp.png myapp

  1. Then define the description of your app

    There are two files that describe your app, myapp.app and myapp.interface.

    myapp.app defines information and location to the files for app that are loaded by app_manager. The content looks like below:

    display: My Application
    description: This is just my awesome application
    platform: pr2
    launch: mypkg/myapp.launch
    interface: mypkg/myapp.interface
    icon: mypkg/myapp.png


`myapp.interface` should look like below:

    published_topics:
      /processed/image: sensor_msgs/Image
    subscribed_topics:
      /camera/rgb/image_rect_color: sensor_msgs/Image


Congradurations! You just created your own app!
Now you have four files in the app directory:

    $ ls
    myapp.app myapp.interface myapp.launch myapp.png

  1. Register created app to the manager

    To call your app via app chooser, you need to add your app to the list. Edit apps.installed file in your applist directory and add your app.

    apps:
      - app: rwt_app_chooser/hello_world
        display: Hello World
    +  - app: mypkg/myapp
    +    display: My application of mypkg

Now you should find your app in app chooser. Enjoy! You can see a sample in sample/apps Directory.

Author

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