[dialogflow_task_executive] add sample apps

dialogflow_task_executive/apps/app.installed

@@ -0,0 +1,3 @@
+apps:
+- app: dialogflow_task_executive/sample_app
+  display: sample dialogflow app

dialogflow_task_executive/apps/sample_app/sample_app.app

@@ -0,0 +1,4 @@
+display: sample dialogflow app
+platform: dummy
+launch: dialogflow_task_executive/sample_app.xml
+interface: dialogflow_task_executive/sample_app.interface

dialogflow_task_executive/apps/sample_app/sample_app.interface

@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}

dialogflow_task_executive/apps/sample_app/sample_app.xml

@@ -0,0 +1,6 @@
+<launch>
+  <arg name="place" default="Tokyo"/>
+  <node name="sample_app_print" pkg="dialogflow_task_executive" type="sample_app_print.py" output="screen">
+      <param name="place" value="$(arg place)"/>
+  </node>
+</launch>

dialogflow_task_executive/launch/dialogflow_task_executive.launch

@@ -1,6 +1,6 @@
 <launch>
   <arg name="run_app_manager" default="false" />
-  <arg name="applist" default="" />
+  <arg name="applist" default="$(find dialogflow_task_executive)/apps"/>
   <arg name="credential" default="$(optenv GOOGLE_APPLICATION_CREDENTIALS false)" doc="Read credentials JSON from this value when use_yaml is false." />
   <arg name="project_id" default="$(optenv DIALOGFLOW_PROJECT_ID false)"/>
   <arg name="enable_hotword" default="true" />
@@ -42,6 +42,10 @@
   </node>
 
   <group if="$(arg run_app_manager)">
+    <rosparam>
+      /robot/type: dummy
+      /robot/name: test
+    </rosparam>
     <node pkg="app_manager" type="appmaster" name="appmaster"
           args="-p 11313"/>
     <node pkg="app_manager" type="app_manager" name="app_manager"

dialogflow_task_executive/node_scripts/sample_app_print.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python
+# -*- encoding: utf-8 -*-
+
+import rospy
+
+def main():
+
+    rospy.init_node('sample_app_print')
+
+    place = rospy.get_param('~place')
+
+    timeout = rospy.Time.now() + rospy.Duration(10)
+
+    rate = rospy.Rate(10)
+    while not rospy.is_shutdown() and rospy.Time.now() < timeout:
+        rate.sleep()
+        rospy.loginfo('I come from {}'.format(place))
+
+
+if __name__=='__main__':
+    main()

dialogflow_task_executive/package.xml

@@ -28,6 +28,7 @@
 
   <export>
     <pip_requirements>requirements.txt</pip_requirements>
+    <app_manager app_dir="${prefix}/apps"/>
   </export>
 
 </package>