add robot name and type args in app_manager

[knorth55]

add robot name and type args in app_manager.launch
add node_name args in app_manager.launch

[k-okada]

As an author of https://github.com/ros-infrastructure/rep/pull/104/files, I think every robot_startup should set robot/name, not set by each app_manager.

[knorth55]

this PR is for launching multiple app_managers under one ROS core.
When we run app_manager in PR1040, the topic name is determined as /pr1040.
But we want to run app_manager in our local PC, too.
So I want to control the namespace by roslaunch argument.

[k-okada]

I see, how about using remapping ?

app_manager /robot/name:=/a/robot/name

[knorth55]

it works with following command.

rosrun app_manager app_manager _/robot/name:=hoge

However when we use param tag to remap it, it will be used as private param like /app_manager/robot/type.
param tag cannot set global parameters in node.
http://wiki.ros.org/roslaunch/XML/param

  <node pkg="app_manager" type="app_manager" name="$(arg manager_node_name)"
        args="$(arg applist_args)"
        output="screen" respawn="$(arg respawn)">
    <param name="/robot/name" value="$(arg robot_name)" if="$(arg use_robot_name)" />
    <param name="/robot/type" value="$(arg robot_type)" if="$(arg use_robot_type)" />
    <rosparam subst_value="true">
      interface_master: http://$(arg master_address):$(arg master_port)
      enable_app_replacement: $(arg enable_app_replacement)
      enable_topic_remapping: $(arg enable_topic_remapping)
      sigint_timeout: $(arg sigint_timeout)
      sigterm_timeout: $(arg sigterm_timeout)
    </rosparam>
  </node>

We all cannot use remap tag, too.

  <node pkg="app_manager" type="app_manager" name="$(arg manager_node_name)"
        args="$(arg applist_args)"
        output="screen" respawn="$(arg respawn)">
    <remap from="/robot/name" to="$(arg robot_name)" if="$(arg use_robot_name)" />
    <remap from="/robot/type" to="$(arg robot_type)" if="$(arg use_robot_type)" />
    <rosparam subst_value="true">
      interface_master: http://$(arg master_address):$(arg master_port)
      enable_app_replacement: $(arg enable_app_replacement)
      enable_topic_remapping: $(arg enable_topic_remapping)
      sigint_timeout: $(arg sigint_timeout)
      sigterm_timeout: $(arg sigterm_timeout)
    </rosparam>
  </node>