Rocon Service

Rocon Service is a high level workflow which Solution provides.

Features

• Parallelise services - multiple services inside a solution, like a server pc.
• Utilise retaskable clients - request for robots and devices on demand
• Launch software as needed - spawn software processes on a concert pc farm.
• Varied kinds - support for ros, static link graph, orc and bpel variants.
• Standardised Interfaces - standardise service periphery to resource scheduling, human interactions and software node launching.

The last point is important. We aren’t likely to have the perfect orchestration technique for composing a service. There probably isn’t a best option for all use cases either. In addition, plenty of folk like trying different things in this space, so if possible, let’s accomodate this feature.

Specification

name: <STRING>
description: <STRING>
author: <STRING>
priority: <INT>
launcher_type: <TYPES_IN_concert_msgs.CONCERT_SERVICE.msg>
launcher: <VARY>
parameters: <PACKAGE_NAME>/<.parameter>-
interactions - <PACKAGE_NAME>/</interactions>

Note

• Name, description, priority are required.
• (launcher_type && launcher) || interactions are required

Supported Launcher Type

• ROSLAUNCH - <PACKAGE_NAME>/<LAUNCH_NAME>
• BPEL - Coming Soon
• SHADOW - TODO Add description later

Example

Admin

name: Admin
description: Administrative services and tools
author: DanielStonier
priority: 1
interactions: concert_service_admin/admin

Turtlesim

name: TurtleSim
description: Turtlesim service
author: Yujin Robot
priority: 3
launcher_type: roslaunch
launcher: concert_service_turtlesim/turtlesim
parameters: concert_service_turtlesim/turtlesim.parameters