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add app_manager_utils in jsk_common
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‎app_manager_utils/README.md‎

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# app_manager_utils
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## Dependency
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- [PR2/app_manager kinetic-devel branch](https://github.com/PR2/app_manager)
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- [python-dateutil >= 2.7.0](https://github.com/dateutil/dateutil)
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## app_scheduler
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Scheduler for `app_manager`
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For detailed information, please read [app_scheduler](app_scheduler/README.md).
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## app_recorder
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Recorder plugin for `app_manager`
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For detailed information, please read [app_recorder](app_recorder/README.md).
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## app_uploader
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Uploader plugin for `app_manager`
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For detailed information, please read [app_uploader](app_uploader/README.md).
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## app_notifier
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Notifier plugin for `app_manager`
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For detailed information, please read [app_notifier](app_notifier/README.md).
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## app_notification_saver
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Notification saver plugin for `app_manager`
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For detailed information, please read [app_notification_saver](app_notification_saver/README.md).
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## app_publisher
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Publisher plugin for `app_manager`
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For detailed information, please read [app_publisher](app_publisher/README.md).

‎app_manager_utils/app_manager_utils/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(app_manager_utils)
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find_package(catkin REQUIRED)
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catkin_metapackage()

‎app_manager_utils/app_manager_utils/package.xml‎

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<?xml version="1.0"?>
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<package format="2">
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<name>app_manager_utils</name>
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<version>2.2.12</version>
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<description>The app_manager_utils meta package</description>
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<maintainer email="[email protected]">Shingo Kitagawa</maintainer>
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<author email="[email protected]">Shingo Kitagawa</author>
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<license>BSD</license>
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<buildtool_depend>catkin</buildtool_depend>
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<exec_depend>app_notification_saver</exec_depend>
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<exec_depend>app_notifier</exec_depend>
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<exec_depend>app_publisher</exec_depend>
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<exec_depend>app_recorder</exec_depend>
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<exec_depend>app_scheduler</exec_depend>
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<exec_depend>app_uploader</exec_depend>
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<export>
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<metapackage />
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</export>
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</package>

‎app_manager_utils/app_notification_saver/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(app_notification_saver)
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find_package(catkin REQUIRED COMPONENTS
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message_generation
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rospy
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)
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add_service_files(
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FILES SaveAppNotification.srv
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)
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catkin_python_setup()
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generate_messages()
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catkin_package(
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CATKIN_DEPENDS message_runtime
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)

‎app_manager_utils/app_notification_saver/README.md‎

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# app_notification_saver
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Plugins and nodes to save notification to json file and pass it to `app_notifier`
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## `app_manager` plugins
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### `app_notification_saver/service_notification_saver`: General notification saver plugin
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This plugin saves notification via service call.
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#### `plugin_args`: Plugin arguments
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`None`
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#### `launch_args`: Plugin launch arguments
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- `json_path` : JSON path
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#### Sample plugin description
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```yaml
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plugins:
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- name: service_notification_saver
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type: app_notification_saver/service_notification_saver
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launch_args:
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json_path: /tmp/app_notification.json
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```
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#### Save app notification
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You can save app notification with service call.
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```bash
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rosservice call /service_notification_saver/save_app_notification "title: 'object recognition'
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stamp:
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secs: 1627467479
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nsecs: 13279914
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location: 'kitchen'
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message: 'Dish is found'"
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```
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#### Clear app notification
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You can also clear app notification.
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```bash
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rosservice call /service_notification_saver/clear_app_notification "{}"
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```
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### `app_notification_saver/smach_notification_saver`: SMACH notification saver plugin
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This plugin saves notification via service call.
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#### `plugin_args`: Plugin arguments
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`None`
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#### `launch_args`: Plugin launch arguments
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- `json_path` : JSON path
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- `smach_status_topic`: SMACH status topic name
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#### Sample plugin description
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```yaml
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plugins:
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- name: smach_notification_saver
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type: app_notification_saver/smach_notification_saver
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launch_args:
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json_path: /tmp/app_notification.json
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smach_status_topic: /server_name/smach/container_status
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```
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## Nodes
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### `service_notification_saver_node.py`: Node for general notification saver
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Save notification node via service call.
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#### Services
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- `~save_app_notification` (`app_notification_saver/SaveAppNotification`)
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Service to save app notification to JSON.
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- `~clear_app_notification` (`std_srvs/Empty`)
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Service to clear app notification in JSON.
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#### Parameters
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- `~json_path` (`String`, default: `/tmp/app_notification.json`)
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Path to json file which contains app notification
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#### Sample
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##### Launch service_notification_saver node
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```bash
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roslaunch app_notification_saver service_notification_saver.launch
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```
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##### Save app notification
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You can save app notification with service call.
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```bash
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rosservice call /service_notification_saver/save_app_notification "title: 'object recognition'
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stamp:
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secs: 1627467479
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nsecs: 13279914
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location: 'kitchen'
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message: 'Dish is found'"
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```
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##### Clear app notification
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You can also clear app notification.
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```bash
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rosservice call /service_notification_saver/clear_app_notification "{}"
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```
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##### Check output JSON
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The sample output of the json file is like below:
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```json
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{
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"object recognition": [
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{
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"date": "2021-07-28T19:17:59",
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"message": "Dish is found",
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"location": "kitchen"
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},
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{
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"date": "2021-07-28T19:18:09",
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"message": "Cup is found",
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"location": "kitchen"
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}
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],
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"navigation failure": [
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{
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"date": "2021-07-28T19:18:29",
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"message": "Stucked in front of the chair",
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"location": "living room"
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}
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]
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}
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```
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### `smach_notification_saver_node.py`: Node for SMACH notification saver
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Save notification of smach state.
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#### Subscribe topics
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- `~smach/container_status` (`smach_msgs/SmachContainerStatus`, default: `/server_name/smach/container_status`)
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Smach status topic
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#### Parameters
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- `~json_path` (`String`, default: `/tmp/app_notification.json`)
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Path to json file which contains app notification
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#### Sample
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##### Launch smach_notification_saver node
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```bash
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# Launch only smach_notification_saver node
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roslaunch app_notification_saver smach_notification_saver.launch
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# Sample
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# Launch smach_notification_saver node and rosbag
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roslaunch app_notification_saver sample_smach_notification_saver.launch --screen
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```

‎app_manager_utils/app_notification_saver/app_notification_saver_plugin.yaml‎

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- name: app_notification_saver/service_notification_saver
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launch: app_notification_saver/service_notification_saver.launch
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module: null
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- name: app_notification_saver/smach_notification_saver
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launch: app_notification_saver/smach_notification_saver.launch
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module: null

‎app_manager_utils/app_notification_saver/data/smach.bag‎

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‎app_manager_utils/app_notification_saver/launch/service_notification_saver.launch‎

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<launch>
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<!-- start: arguments -->
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<arg name="json_path" default="/tmp/app_notification.json" />
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<!-- end: arguments -->
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<node name="service_notification_saver" pkg="app_notification_saver"
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type="service_notification_saver_node.py">
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<rosparam subst_value="true">
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json_path: $(arg json_path)
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</rosparam>
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</node>
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</launch>

‎app_manager_utils/app_notification_saver/launch/smach_notification_saver.launch‎

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<launch>
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<!-- start: arguments -->
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<arg name="json_path" default="/tmp/app_notification.json" />
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<arg name="smach_status_topic" default="/server_name/smach/container_status" />
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<!-- end: arguments -->
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<node name="smach_notification_saver" pkg="app_notification_saver"
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type="smach_notification_saver_node.py" >
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<remap from="~smach/container_status" to="$(arg smach_status_topic)" />
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<rosparam subst_value="true">
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json_path: $(arg json_path)
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</rosparam>
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</node>
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</launch>

‎app_manager_utils/app_notification_saver/node_scripts/service_notification_saver_node.py‎

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#!/usr/bin/env python
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import rospy
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from app_notification_saver import ServiceNotificationSaver
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if __name__ == '__main__':
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rospy.init_node('service_notification_saver_node')
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ServiceNotificationSaver()
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rospy.spin()

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