How rmf decide which lifts to schedule? (#420)

Open-RMF Open-RMF General
1

Posted by @cwrx777:

RMF release: release-iron-231229

I ran hotel simulation with two robots, dispatched tasks to both robots almost at the same time, and noticed that only Lift2 was scheduled for both robots.

ros2 launch rmf_demos_gz_classic hotel.launch.xml

ros2 rmf_demos_tasks dispatch_patrol -p lobby L3_room15 -n 5 --use_sim_time &&
ros2 rmf_demos_tasks dispatch_patrol -p restaurant L3_master_suite -n 5 --use_sim_time

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2

Posted by @mxgrey:

It’s not intelligent enough yet to distribute robots between the lifts when both start from the same floor. The reservation system feature will be necessary for that kind of reasoning.

It should be able to detect traffic conflicts for robots using a lift from different levels, and that would prompt the robot to use a different lift, but that reasoning is based on movement predictions rather than lift utilization predictions.

3

Posted by @cwrx777:

@mxgrey
could you direct me to the part of the code that does the planning, in the current main branch.
is it fleet adapter or the traffic schedule node that plan the path?