README.md

rwt_app_chooser

App chooser client for web browsing device

Example

1. Launch sample file

   roslaunch rwt_app_chooser sample.launch

2. 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.

   

   As for example, you can choose any robot type and name, but you need to set ws://localhost:9090 for Robot URI

   Then You will choose robot which you just added.

   

   Finally, you can see following task launch page. Clock the 'Hello World' Button.

   

Usage

1. (On Robot) Launch app manager

   roscore &
   rosparam set robot/type pr2     # aet 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

2. (On Server) Launch rwt_app_chooser server

   roslaunch rwt_app_chooser rwt_app_chooser.launch

   This can be run on the robot

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

2. 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

3. 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

4. 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>