Rapp module

rapp manager has been upgraded.

https://github.com/robotics-in-concert/rocon_app_platform/issues/167
https://github.com/robotics-in-concert/rocon_app_platform/issues/153
https://github.com/robotics-in-concert/rocon_app_platform/issues/139
https://github.com/robotics-in-concert/rocon_app_platform/issues/137