Google Calendar Routine

This package reads dates from a Google Calendar and submits them to the scheduling service via the `AddTasks <https://github.com/strands-project/strands_executive/blob/hydro-devel/strands_executive_msgs/srv/AddTasks.srv>`__ service.

This requires the `task_scheduler <https://github.com/strands-project/strands_executive#running-scheduled-patrols>`__ to be running, including its requirements.

Start it with rosrun gcal_routine gcal_routine_node.py. You may have to also enable task execution via rosservice call /task_executor/set_execution_status "status: true"

The gcal_routine submits task to the scheduler queried from Google calendar using an API key via the official Google REST API. Goggle Calendar resolves all recurrences and this node gets a “linearised” view of events. By default, the event title of the event on GCal describes the action and the Where describes the start and end place id. Further arguments of the `Task <https://github.com/strands-project/strands_executive/blob/hydro-devel/strands_executive_msgs/msg/Task.msg>`__ structure can be set in YAML in the description of the event. In addition, to make the user experience easier, tasks can be configured via a predefined template YAML file like this:

{
    'wait': {
        'action': 'wait_action',
        'max_duration': {secs: 300, nsecs: 0},
    },
    'patrol': {
        'action': 'wait_action',
        'max_duration': {secs: 30, nsecs: 0}
    }
}

This allows to define pre-defined values depending on the action entered in the title of the event. E.g. if wait is entered, then the attributes of the `Task <https://github.com/strands-project/strands_executive/blob/hydro-devel/strands_executive_msgs/msg/Task.msg>`__ structure are being automatically populated from the template file.

The following parameters are being recognised:

• ~calendar: The ID of the google calendar, defaults tohenry.strands%40hanheide.net (find the correct calendar ID in Calendar setting on Google Calendar)
• ~key: The private access key to gain access to GCal, defaults to AIzaSyC1rqV2yecWwV0eLgmoQH7m7PdLNX1p6a0 (This is the App key for the henry.strands@hanheide.net account. You may want to use other accounts.)
• ~available_tasks_conf_file: The path to a yaml file providing the template as shown above
• ~pre_start_window_min: Number of minutes that tasks are submitted to the scheduler prior to their start_after time. (default: 15 minutes)
• routine_update_wait_sec: seconds to sleep between checks for new tasks to be valid to be sent to the scheduler (default: 10s)
• ~gcal_poll_wait_sec: seconds between polls to the Google calendar. Default is 60s (i.e. 1 poll per minute). You don’t want this to be too small or Google will ban the account due to high bandwidth. Once per minute is a good start.
• ~priority: Priority to assign to task. Default is 2.

All events in a Google calendar are translated into UTC time for the generation of tasks. So it should work in any time zone.

Here is an example call:

rosrun  gcal_routine gcal_routine_node.py _stand_alone_test:=true _calendar:="hanheide.net_6hgulf44ij7ctjrf2iscj0m24o@group.calendar.google.com" _pre_start_window_min:=30 _gcal_poll_wait_sec:=10 _routine_update_wait_sec:=1

Original page: https://github.com/strands-project/strands_executive/blob/indigo-devel/gcal_routine/README.md