official concert comms imported from the yujin repo.

concert_comms/.cproject

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+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?>
+
+<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+	<storageModule moduleId="org.eclipse.cdt.core.settings">
+		<cconfiguration id="cdt.managedbuild.toolchain.gnu.base.949795087">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.base.949795087" moduleId="org.eclipse.cdt.core.settings" name="Default">
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.base.949795087" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
+					<folderInfo id="cdt.managedbuild.toolchain.gnu.base.949795087.1630158306" name="/" resourcePath="">
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+							<builder id="cdt.managedbuild.target.gnu.builder.base.1656470906" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base"/>
+							<tool id="cdt.managedbuild.tool.gnu.archiver.base.1496712516" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
+							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1639749174" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
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+							<tool id="cdt.managedbuild.tool.gnu.c.compiler.base.2059272215" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
+								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1025597115" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.c.linker.base.856829160" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
+							<tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.766569220" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1249076438" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
+								</inputType>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.assembler.base.132606056" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
+								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1546949964" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+		</cconfiguration>
+	</storageModule>
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="rocon_app_manager_comms.null.104830379" name="rocon_app_manager_comms"/>
+	</storageModule>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+	</storageModule>
+	<storageModule moduleId="refreshScope"/>
+</cproject>

concert_comms/.gitignore

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+/bin
+/build
+/src
+/msg_gen
+/srv_gen

concert_comms/.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>concert_comms</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+				<dictionary>
+					<key>?name?</key>
+					<value></value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.append_environment</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildArguments</key>
+					<value></value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildCommand</key>
+					<value>make</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
+					<value>clean</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.contents</key>
+					<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
+					<value>false</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableFullBuild</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.stopOnError</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+					<value>true</value>
+				</dictionary>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+</projectDescription>

concert_comms/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+rosbuild_init()
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+rosbuild_genmsg()
+rosbuild_gensrv()
+
+#rosbuild_find_ros_package(yujin_comms_headers)
+#add_custom_command(TARGET rospack_genmsg_all
+#                   POST_BUILD
+#                   COMMAND cp -r ${PROJECT_SOURCE_DIR}/msg_gen/cpp/include/* ${yujin_comms_headers_PACKAGE_PATH}/include/
+#                   WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+#                   COMMENT "Installing headers to ${yujin_comms_headers_PACKAGE_PATH}/include/"
+#)                  

concert_comms/Makefile

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+include $(shell rospack find mk)/cmake.mk
+

concert_comms/mainpage.dox

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+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b rocon_app_manager_comms is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/

concert_comms/manifest.xml

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+<package>
+  <description brief="Standard communications for concert framework">
+
+     Shared communication types for the concert framework.
+
+  </description>
+  <author>Daniel Stonier</author>
+  <license>BSD</license>
+  <review status="experimental" notes=""/>
+  <url>http://ros.org/wiki/rocon_concert_framework</url>
+
+  <depend package="zeroconf_comms"/>
+
+</package>
+
+

concert_comms/msg/ConcertClient.msg

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+# Provides information and status of a concert client.
+
+zeroconf_comms/DiscoveredService zeroconf
+# The platform id triple
+string platform
+string system
+string robot
+# Unique Id
+string suggested_name
+string unique_name
+string key
+string app_manager_uri
+bool is_connected
+time last_connection_timestamp

concert_comms/msg/ConcertClients.msg

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+concert_comms/ConcertClient[] clients

concert_comms/msg/Device.msg

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+# Provides details about the device/robot
+#
+# Using strings is nicer here as its easier to 
+# introspect the system quickly when its human
+# readable (we're not throwing them around alot 
+# anyway, so no big speed loss is incurred).
+
+string PLATFORM_ANY=*
+string PLATFORM_LINUX=linux
+string PLATFORM_WINDOZE=windows
+string PLATFORM_ANDROID=android
+
+string SYSTEM_ANY=*
+string SYSTEM_CUSTOM=custom
+string SYSTEM_ROS=ros
+string SYSTEM_OPROS=opros
+
+# Valid robot types. This is not
+# official, and we aren't relying 
+# on it.
+string ROBOT_PC="pc"
+string ROBOT_ROBOSEM="robosem"
+string ROBOT_KOBUKIBOT="kobukibot"
+
+# Configured by the app manager
+string platform
+string system
+string robot

concert_comms/msg/DeviceConfiguration.msg

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+# This provides information about the device/robot
+# configuration (depends on the app that is being
+# called to run on the robot).
+
+concert_comms/Device device
+string app
+

concert_comms/msg/PlatformInfo.msg

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+# Provides platform details from the app manager.
+
+int16 PLATFORM_LINUX=0
+int16 PLATFORM_WINDOZE=1
+int16 PLATFORM_ANDROID=2
+
+int16 SYSTEM_CUSTOM=0
+int16 SYSTEM_ROS=1
+int16 SYSTEM_OPROS=2
+
+# Valid robot types, though this is totally not
+# official, and we aren't relying on it.
+string ROBOT_PC="pc"
+string ROBOT_ROBOSEM="robosem"
+
+# Configured by the app manager
+int16 platform
+int16 system
+string robot
+string key
+string suggested_name
+# Configured after contacted by the concert
+string unique_name

concert_comms/srv/Implementation.srv

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+---
+# A list of 'named' nodes, e.g. linux.ros.robosem.rocon_teleop
+
+string name
+#concert_comms/DeviceConfiguration[] nodes
+string[] nodes
+string link_graph