<> <> ||This is part of the [[http://www.robotconcert.org/wiki/Main_Page|Robotics in Concert]] project. || == Overview == Because different systems require different scheduling policies, the ROCON design allows for multiple scheduler implementations. The scheduler runs as a ROS node on same master as the ROCON Conductor, services and other Solution components. This package supplies a simple fixed-priority scheduler using some common infrastructure packages that other scheduler implementations can use or modify. == ROS Interface == {{{#!clearsilver CS/NodeAPI node.0 { name = simple_scheduler desc = This scheduler provides a relatively simple fixed-priority scheduler which allocates resources within each priority on a first-come, first-served basis. sub { 0.name= rocon_scheduler 0.type= scheduler_msgs/SchedulerRequests 0.desc= Scheduler requests. Any ROCON service or application sending messages to this topic is called a '''requester'''. 1.name= concert_client_changes 1.type= concert_msgs/ConcertClients 1.desc= ROCON clients known to the Conductor. } pub { 0.name= rocon_scheduler_0123456789abcdef0123456789abcdef 0.type= scheduler_msgs/SchedulerRequests 0.desc= Per-requester scheduler feedback. Each '''requester''' assigns itself a universally unique identifier and subscribes to a feedback topic using the hexadecimal string representation of its UUID. 1.name= resource_pool 1.type= scheduler_msgs/KnownResources 1.desc= The status of all ROCON clients currently managed by this scheduler. } param { 3.name= ~topic_name 3.type= string 3.default= rocon_scheduler 3.desc= Name prefix to use for the request and feedback topics. Since the feedback topic is generated dynamically, it would otherwise be difficult to remap. } } }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage