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App Platform Proposal

We'll call a live meeting if there is sufficient need for it, otherwise conclusions from the dialogue below will do.

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Outline

Most of what we are planning will probably be familiar to people who got comfortable with the turtlebot and pr2 app platform design. The pairing of apps between robot and android is a really convenient way to connect and retask your robot. We'd like to advance the concept and also extend it to handle multi-robot frameworks.

So here we will outline a clear set of ideas relevant to the app platform. Just to get the ball rolling, a more detailed sketch illustrating how we might design for pairing and concert modes, and a bit on capabilities.

Target

Land it on Turtlebot for Hydro.

Definitions

So we're all on the same page:

Use Cases

Design

Goals

With regards to G04, a single rapp might be to pick up a cup, but that may be provided by several different implementation, e.g. pr2 and justin implementations may be wildly different, but still represented by the same rapp.

Implementation Decisions

Comments/Issues

Rapps as Metapackages

Could potentially be simpler if we just define rapps as metapackages only. i.e. they don't include any code, just launch and public interface rules [Daniel].

Optimising

[Daniel] I feel the best target to aim for is one which satisfies most use cases easily. Optimal versions of the app manager can be written later for other platforms. There are areas here where it might be optimised, e.g. pairing mode's private robot master doesn't really need a gateway - direct master sync'ing is probably enough. But we introduce more complexity into the app manager then and I don't think the bang is worth the buck (at least not initially and especially before next gen comms).

Web App Manager

I haven't made any mention yet to managing web apps or running a web app manager. We could introduce that early into the design here. Or we could postpone that to the next iteration.

Rapp installation management



2024-03-23 12:54