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The event scheduler is implemented as a single ROS node, containing the scheduler function previously mentioned, and in addition callbacks for the topics it subscribes to:
| Function | Description |
|---|---|
scheduler |
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| Checks for ongoing events, by searching through the database of events provided in the navigation module. If an event at another location than the current one is found, a navigationscheduler_ event is published on the event topic of the controller module. | |
callback_current_location |
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| Callback for the location subscriber, updates the current location of the module. | |
callback_subscriber_state |
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| Callback for the state subscriber, updates the module with the current state. | |
callback_battery_status |
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| Callback for the battery status subscriber. If the battery percentage is below a set value while the Cyborg is not already charging og moving to the dock, a powerlow_ event is published on the event topic of the controller module. |