Posted by @ibrahiminfinite:
Are there any hard limits on the following parts of OpenRMF, or is it situational ?
- Maximum number of robots in a building (this one seems to be situational #406)
- Maximum number of non-robot devices in a building
- Maximum size of the map per floor
- Maxumum number of floors per building
cc: @Yadunund @mxgrey
Edited by @ibrahiminfinite at 2024-04-29T12:21:48Z
Chosen answer
Answer chosen by @ibrahiminfinite at 2024-05-29T03:56:07Z.
Answered by @mxgrey:
Limits on robots have been explained elsewhere (like the link you provided) so I’ll let people refer to those past explanations.
Non-robot devices doesn’t have an RMF-specific limit, but if you’re talking with those devices over DDS then you could run into discovery problems when you get into the hundreds. We’re currently working on some tweaks to the way RMF talks to devices so that we can support a scale of hundreds without any problems, but anything <100 should be perfectly fine today.
The size of the map doesn’t matter much, but the number of elements (vertices and lanes) in your graph could start to matter when you reach extreme scales like tens of thousands. We’ll be working to improve that in the next generation path planning.
There’s no limit on floors per building. I can’t even think of any performance burden that would get bigger by only having more floors.