why the rocon_app_manager is not launched ?

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Hi, I am learnig ROCON which is an exellent example of multi-robot system. I am trying to run multinav_concert in ROCON's Hydro repository. As the multinav.concert file says, firstly a rviz interface without map is launched by running concert.launch file in a terminal, secondly, map is loaded into rviz by running multinav_database_client.launch in another terminal which communicates with the first terminal.

Here is my question, How the map is loaded into rviz? As the multinav.rapps shows map_sever is wrapped into a rapp " map_sharing", The rapp "map_sharing" includes map_sharing.launch which launchs node /map and related topics.

However, to my understandings, by tracing the process of running multinav_database_client.launch, concert_client.launch, paired_private.launch, then _app_manger_gateway.xml, _app_manger.xml are launched one by one, so the rapp "map_sharing" is managed by _app_manger.xml which utilizes rocon_app_manager package. The rocon_app_manger contains rapp_manager.py and other .py files

To understand this process, I added print function in ___init__, _process_start_app, _process_stop_app in rapp_mangaer.py to show some infomation about the process, but nothing is output on the screen. It seems that rocon_app_manager doesn't do anything for the process of loading map sucessfully.

I once modified the rapp "nav_demo" to be "nav_test" by trying to launch amcl node( adding amcl_demo.launch) but failed to launch amcl node(please see this question on ros answer)

So I wonder why the rapp runnig map server is loaded sucessfully but another rapp with amcl can't be launched.

I am very confused and don't know how to solve this. Any guidance will be appreciated.