Capabilities w/ Rapps

[stonier]

There's some interesting starts in the caps_rapp_upgrade branch.

[stonier]

Would be great to advertise capabilities via turtlebot, but I'm not sure it's going to create a 'simple' environment for turtlebot which is aimed at new ROS users afterall. And it would need an engineer on it.

Key discussion points:

No capabilities for create - unless someone gets in and does these, the idea of capabilities is awol. Are we going to support create? Is there much work to making Create capabilities? Who would do so?

Capabilities dont really make sense with roslaunch - there is not really any sensible way of starting capabilities from a roslaunch so if we introduced capabilities we'd be almost entirely switching over to the app manager launching methods. Turtlebot is designed to teach new users though and roslaunch is a very significant part of that.