How to manage more robots

[wangying530]

Hello~ I wonder if we can manage a large number of robots in one fleet？ (30,50 , even over 100 ... )
After some tests, I noticed when the number of robots grows, time for initiation will rise dramatically. For example, when I added 20 tinyrobots in a fleet, it took 1 min to add all of them. If I change the number to 31, the time grows to 30 mins. When adding a robot into the fleet, it seems RMF will check all of the charging points in the graph and get the nearest one ? https://github.com/open-rmf/rmf_ros2/blob/main/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/FleetUpdateHandle.cpp#L1281 This step took a lot of time in my simulation tests (every robot has a charging point ). rmf demos‘ doc mentioned each robot in the map is supposed to have a dedicated charging location, so i set as many charing points as the robots. Is it necessary? Is there anything i can do to tune rmf in order to manage more robots?