Rapp API

class rocon_app_utilities.rapp.Rapp(name, rospack=<rospkg.rospack.RosPack object>, filename=None)

Rocon(or Robot) App definition.

classify()

classifies itself. It sets the following member variables.

parent_name : It has parent if it is child is_implementation : Is it implementation? is_ancestor : Is it Ancestor? type : str(Virtual Ancestor, Implementation Ancestor or Implementation Child)

inherit(rapp)

Inherits missing information from the given rapp

Parameters:rapp (rocon_app_utilities.Rapp) – rapp to inherit

is_compatible(uri)

it compares its compatibility with given uri. and returns true if it is compatible. If it is virtual rapp which does not have compatibility field, return True always

Parameters:uri (rocon_uri.RoconURI) – rocon_uri Returns:true if compatible Return type:bool

load_rapp_specs_from_file()

Specification consists of resource which is file pointer. This function loads those files in memeory

load_rapp_yaml_from_file(filename)

loads rapp data from file. and classifies itself.

Parameters:filename (str) – absolute path to rapp definition