How do you schedule Resque jobs on Heroku?

The rescue-scheduler gem installation says to create a separate Rake task for scheduling:

https://github.com/resque/resque-scheduler#rake-integration

namespace :resque do
  task :setup_schedule => :setup do
    ...
  task :scheduler => :setup_schedule

$ rake resque:scheduler

However my Heroku Procfile already has a worker process to run Resque:

resque: env TERM_CHILD=1 RESQUE_TERM_TIMEOUT=7 QUEUE=* bundle exec rake resque:work COUNT=1

I don't want to create yet another worker process just to run scheduled jobs. This old blog posts says you can set it up without using Rake tasks.

https://www.perfectline.co/blog/2011/07/cron-tasks-for-your-rails-application-with-resque-2/

How do you schedule Resque jobs on Heroku without use 2 worker dynos?

I tried to add multiple dependencies but it gave me a circular dependency error.

namespace :resque do
  task :setup => [:environment, :scheduler]
Console
>env TERM_CHILD=1 RESQUE_TERM_TIMEOUT=7 QUEUE=* bundle exec rake resque:work COUNT=1
rake aborted!
Circular dependency detected: TOP => resque:work => resque:preload => resque:setup => resque:scheduler => resque:setup_schedule => resque:setup

Tasks: TOP => resque:work => resque:preload => resque:setup => resque:scheduler => resque:setup_schedule