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Solution in concert_orchestra is to create connections among the participated clients in the concert. It figures out which client need to start what app and what remappings rules need to be applied.

For example, chatter_concert uses this file to find out what the concert should do. It describes that chatter_concert needs two types of clients, dudes and dudette. Dude client need to start up listener app meanwhile dudette start up talker app.

In addition, edge specifies remapping rules for the participants. In chatter_concert example, dude needs to remap from chatter topic, which is public interface of listener app, to /conversation/chatter.

Rocon in hydro distribution was all about proof of concept implementation to confirm multiple robot task composition is feasible. So lack of documentation was inevitable since it has been changing a lot. I think I can answer the question better if you can describe what you want to achieve in detail. Describing all implementation of compatibility tree and solution aren't very helpful since it has been upgraded too far away.