Mission Scheduler API
The Mission Scheduler API provides a ROS interface for creating, deleting, editing, and executing missions on a daily schedule. Schedules are stored in a database-like structure on-disk, and can be executed manually or automatically.
The web UI is the primary method of creating and modifying schedules, though the ROS API is available should you wish to write your own interface or create automation tools to interact with the scheduler.
The Schedule Object
A schedule consists of one or more missions to be executed in the specified order at a particular start time. For consistency the start time is expressed as a 24-hour time in UTC.
The schedule must be in one of 3 modes:
MODE_ONCE-- the mission is executed exactly once per day, at the indicted UTC timeMODE_LOOP-- the mission is executed a set number of times per day, starting at the indicated UTC time and repeating at fixed intervals until the desired number of repetitions is reachedMODE_TRANSIENT-- the mission is run exactly once, and is not saved to the persistent storage. This is intended to be used for deferred execution of a mission (e.g.execute mission X in 5 minuteswould use a transient schedule)
Deleting a mission from the Mission Manager will result in that mission being automatically removed from any schedules it was part of. If a schedule has no missions it is automatically disabled, and cannot be re-enabled until it contains at least one mission.
A Note on Schedule Timing
Automatically-scheduled missions are executed at the provided time +/- 10 seconds. The duration provided by the
next_schedule topic and get_next_schedule service is therefore approximate. We recommend rounding the time to the
nearest minute when displaying the countdown information to the user in any sort of GUI.
Topics Exported by Mission Scheduler
mission_scheduler/next_schedule
Message Type: clearpath_mission_scheduler_msgs/msg/NextSchedule
Description: Publishes the UUID and duration to the next scheduled mission. If no missions are scheduled the UUID will be blank.
Update Rate: 1Hz
mission_scheduler/state
Message Type: clearpath_mission_scheduler_msgs/msg/StorageState
Description: Publishes the current state of the database. Anything that needs to display the current set of schedules should subscribe to this topic
Update Rate: Latched, publishes on state-change only
Services Exported by Mission Scheduler
mission_scheduler/add_mission
Service Type: clearpath_mission_manager_msgs/srv/AddRemoveById
Description: Add a mission to an existing schedule.
mission_scheduler/clone_schedule
Service Type: clearpath_mission_scheduler_msgs/srv/CloneSchedule
Description: Perform a deep-copy of an existing schedule
mission_scheduler/create_schedule
Service Type: clearpath_mission_scheduler_msgs/srv/CreateSchedule
Description: Create a new schedule
mission_scheduler/delete_all_schedules
Service Type: clearpath_mission_manager_msgs/srv/DeleteEverything
Description: Delete all schedules.
This action is permanent and cannot be undone. Use with caution.
mission_scheduler/delete_schedule
Service Type: clearpath_mission_manager_msgs/srv/DeleteById
Description: Delete a single schedule.
This action is permanent and cannot be undone. Use with caution.
mission_scheduler/enable_schedule
Service Type: mission_scheduler/srv/UpdateSchedule
Description: Enable or disable a schedule.
Disabled schedules can still be run manually with the run_now action (see below). Disabled schedules will never
be run automatically.
mission_scheduler/export
Service Type: clearpath_mission_scheduler_msgs/srv/ExportData
Description: Export all schedule data to a JSON string so it can be backed-up or copied to another robot.
This service is intended to be used in combination with the import_data service to facilitate backups or
synchronizing schedules across multiple robots.
mission_scheduler/get_all_schedules
Service Type: mission_scheduler/srv/GetAllSchedules
Description: Get the list of all schedules. The list will include enabled, disabled, and transient schedules.
mission_scheduler/get_next_schedule
Service Type: mission_scheduler/srv/GetNextSchedule
Description: Get the UUID of the next schedule that will be run automatically. If nothing is scheduled (e.g. because there are no enabled schedules) the UUID will be blank.
The duration is the approximate time left before the schedule will be started automatically. Schedules will start at their designated start time +/- 10 seconds.
mission_scheduler/get_schedule
Service Type: mission_scheduler/srv/GetSchedule
Description: Get the schedule with the provided UUID. If an error occurred, or no schedule with the provided UUID exists, the returned object will have a blank UUID.
mission_scheduler/import
Service Type: clearpath_mission_scheduler_msgs/srv/ImportData
Description: Import data exported by the export_data service. This will add new schedules to the database
but will not modify or delete any existing schedules.
This service is intended to be used in combination with the export_data service to facilitate deploying new
schedules across multiple robots.
mission_scheduler/remove_mission
Service Type: clearpath_mission_manager_msgs/srv/AddRemoveById
Description: Remove the mission at a given position from a schedule, or remove all copies of a mission from a schedule
mission_scheduler/restore
Service Type: cpr_mission_scheduler_msgs/srv/ImportData
Description: Restore data exported by the export_data service. This will delete all schedules and replace the
database contents with the imported data.
This service is intended to be used in combination with the export_data service to facilitate backups or
synchronizing schedules across multiple robots.
mission_scheduler/update_schedule
Service Type: mission_scheduler/srv/UpdateSchedule
Description: Modify an existing schedule. All of the schedule's properties are overwritten with the new values provided in the service call.
Before modifying a schedule it is recommended to call the get_schedule service to get the schedule's current state,
copy all values to the service request object, and then change the fields you want to overwrite.
Actions Exported by Mission Scheduler
mission_scheduler/run_now
Action Type: clearpath_mission_scheduler_msgs/action/RunScheduleByUuid
Description: Execute the schedule with the given UUID. The delay parameter will defer the execution by the
specified time. This action can be used to run a disabled schedule, or run a schedule at a time other than its
scheduled start time.
Feedback Rate: 1Hz