[Other issue]: With the combination of nav2 and open-rmf, is it only possible to run it on 2 or 3 turtlebot3?

[miharaka]

Before proceeding, is there an existing issue or discussion for this?

• I have done a search for similar issues and discussions.

Description

I tried to control multiple turtlebot3_burger with nav2 in gazebo.
When I started nav2 nodes and free_fleet nodes for 5 or more multiple turtlebot3, open-rmf did not function properly by CPU load increasing. (For details, turtlebot3 in open-rmf losted locaition.)

With the combination of nav2 and open-rmf, is it only possible to run it on 2 or 3 devices?
Or is it possible to solve this problem and increase the number of turtlebot3 to 10~50?

OS Ubuntu 20.04
CPU Intel(R) Core (TM) i9-10900X CPU@ 3.70GHz

[ItamarEliakim-R]

Any luck? I would love your insights about integrating the two (NAV2+RMF).

[StetroF]

As what i tried. I've not deploy too much robot .But for 3 robot .YES it can deploy 3 robot on 3 different device.Like deploy one robot on one pc. And deploy rmf system on one another device. All these 4 device use cycloneDDS to communicate. By the way. What i deploy are the real robots rather than simulation.