Expose rapp implementation information

[bit-pirate]

I just created a rapp implementation for a virtual rapp, i.e. robosem_rapps/teleop for rocon_apps/teleop.

Now, when starting the app manager it is registered as rocon_apps/teleop instead of robosem_rapps/teleop.

Outputs:

When starting up the rapp manager:

[INFO] [WallTime: 1399026284.494507] Rapp Manager : 'rocon_apps/teleop' added to the list of runnable apps.

Calling list_rapps:

available_rapps: 
[...]
  - 
    name: rocon_apps/teleop
    display_name: Robosem Teleop
    description: Teleoperation for Robosem
    compatibility: rocon:/robosem
    status: Ready
    icon: 
      resource_name: ''
      format: png
    required_capabilities: ['std_capabilities/DifferentialMobileBase', 'std_capabilities/RGBDSensor']

@stonier @jihoonl is this supposed to be that way?

[stonier]

Yes - that is how it gets exposed to the concert and that is all the necessary information to a higher level user.

I could create an extra field and throw in the the actual implementation rapp for convenience though.

[stonier]

Ok, @bit-pirate has a use case. For non-concert people, they'd like to sometimes be able to select the implementation they want to run (i.e. override the preferred).

[jihoonl]

I wonder how interaction searches its connected rapp. Does it use implementation name or ancestor name?

[stonier]

I wonder how interaction searches its connected rapp. Does it use implementation name or ancestor name?

Currently ancestor name. That is the only one that is officially exposed by list_apps topic and the only one that is used in start_rapp service. Feasibly we should implement stuff in the rocon_app_manager so that it knows how to start both ancestor (via the preferred implementation) or the descendant directly.

[jihoonl]

How about exposing all implementation and virtual ancestors in list_rapp to resolve this issue? In this case, non-concert users can choose either implementation or virtual to run the rapp.

Or does implementation child need to be started as well?

[stonier]

I started babbling here and then took a look at how I might modify RappList.msg and Rapp.msg and it's not so clear.

I think we need a whiteboard discussion for this one.

[stonier]

@jihoonl has implemented all of this - working well. Can even select the non-preferred child rapps from the rocon qt app manager.