Appable Robot/Concert Mode

= Concert Mode =

Enables the appable robot as a concert client.

https://docs.google.com/drawings/d/1netMSKFtMn8GqiyDlFsEuGOe9Lw3NRvKx6Of-XXG26I/pub?w=685&h=454&.png

A simple software example (using multiple ros cores on one machine) of this actually running can be found with the turtle_concert.

= Design =


 * Dual Design - pairing and concert modes in the same design.