For each scheduler implementation, this package has a launcher that can be triggered by arg in the concert master launcher. e.g.

> roslaunch concert_master concert_master.launch scheduler_type:=preemptive_compatibility_tree

Each launcher has the form <scheduler_name>_scheduler.launch and the current default is compatibility_tree.

Scheduling is not trivial. A simple example to illustrate - suppose we require three separate resources for a single request and we have clients with names ‘a’-‘g’ available.

  • rocon_apps/patrol : a b c d e f
  • rocon_apps/deliver : a b c d e g
  • rocon_apps/clean : f g

Here, every concert client can satisfy two different resources. Note that if we take randomly select f and g for the first two resource allocations, then the third is unfilled and the request unresolved. Here the obvious approach is to appropriately allocate f or g to the third resource due to the solutions sensitivity to this resource (fewest number of allocatable clients). This is exactly the approach the compatibility tree scheduler adopts.

We could also exhaustively search all permutations, but even then we’d need a good metric to ascertain what is the best allocation.

Simple Scheduler

This scheduler is provided by the concert_simple_scheduler package and will be the default once fully featured. It uses a set of simple heuristics to choose an appropriate action from the many permutations that can arise when satisfying multiple requests of multiple resources.

Compatibility Tree

This is the experimental default and does a similar job to the simple scheduler using a compatibility tree algorithm. This is implemented in the concert_schedulers.compatibility_tree_scheduler.scheduler.CompatibilityTreeScheduler class.

Preemptive Compatibility Tree

This adds an experimental hook to allocate from already allocated clients that are currently working at a lower priority. It immediately pulls them, stops their rapp and starts their new rapp (task). This is as ungraceful as a hippo in a ballet class [1], but it’s a first step to experimenting with preemptions.

This is also implemented in the concert_schedulers.compatibility_tree_scheduler.scheduler.CompatibilityTreeScheduler class but triggered by the enable_preemptions parameter.

[1]It should set a timeout, notify the service that is requesting and let the service cancel the request gracefully. If the service fails to do so, only then should it curtly stop the rapp and proceed.

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