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osrf / rmf_core

Provides the centralized functions of RMF: scheduling, etc.
Apache License 2.0
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Single pickup multiple dropoff workflow #134

Closed rcywongaa closed 3 years ago

rcywongaa commented 4 years ago

It seems the current Delivery message only supports single pickup single dropoff (location-wise) workflow.

Are there plans for extending this to support single pickup multiple dropoff (e.g. an AGV with multiple compartments which are all loaded at the same location but unloaded at different locations)?

mxgrey commented 4 years ago

I think it makes a lot of sense to support delivery requests that can contain N number of pickups and M number of dropoffs, for cases where a single transporter can have multiple items in its inventory. We don't have that on our roadmap currently because none of our customers have requested it yet, but feel free to submit a PR to add such a task request message.

For the sake of backwards compatibility, I might suggest creating a new message definition for it rather than modifying Delivery.msg. Maybe it could be called MultiDelivery.msg.

Briancbn commented 4 years ago

Hi we are also interested in the support for Delivery with multiple dropoff point, since there aren't any plans yet, maybe we can work on this together.

mxgrey commented 3 years ago

Closing as this is not an issue. To continue discussing this topic, please open a discussion.