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utexas-bwi / rocon_scheduler_requests

Interfaces for managing rocon scheduler requests
http://wiki.ros.org/rocon_scheduler_requests
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scheduler: add request preemption timeout #28

Closed jack-oquin closed 10 years ago

jack-oquin commented 10 years ago

The current scheduler module allows a requester to hang on to a preempted resource indefinitely. That may be useful in some cases, but relies on all requesters to be responsive and well-behaved. While the scheduler protocol is intentionally co-operative, providing a timeout does seem desirable for cases where the requester is not working correctly.

We want a mechanism for the scheduler to allow a reasonable period of time for clean-up without tying up resources forever. Since a fixed time is unlikely to work for all situations, the requester and scheduler should negotiate how long to wait using the hold_time and availability fields. The scheduler's preempt() call would set availability to some reasonable time limit, and the requester could update hold_time if it has different requirements.

See #10 for a lengthy discussion of some aspects involving lost resources.

jack-oquin commented 10 years ago

Closing: migrated to utexas-bwi/concert_scheduling#20