trying to schedule pick waves but cant find anything non cloud based information

I am trying to work out how to schedule pick waves. I can schedule the release run to release the lines ok but I cant find anything to tell me how the actual pick wave can be scheduled to launch and release. I have the document Oracle Warehouse Management User's Guide that actually mentions scheduling 5 times but doesn't actually tell you how to do it. we currently don't use this in our business but are interested in using it going forwards.

I can create a wave template and manually launch it. I can then release it from the wave workbench. as said before i can schedule the release rule to release any lines that done release first time.