[HanielUlises]

The two-site survey of eplansys_demo, over Open-RMF.

Each scout carries the instrument its own site reads, so the mission cannot be done by one robot. north is bound to tinyRobot1 and drives to the pantry, south to tinyRobot2 and the lounge; relay and observer are bound to nothing, because the first is only ever spoken to and the second is the one the mission keeps in the dark.

With the policy's independent runs dispatched together — parallel:=true, the default here — both go_to_place tasks are submitted in the same instant and RMF routes two robots across the office at once. That is the part the one-site mission cannot show: its policy sends one robot, and the fleet has nothing to arbitrate.

Measured

Office fleet, headless, north dirty and south clean:

dispatch	mission
a node at a time	67.5 s
independent runs together	51.5 s

The saving is one drive across the office. mission_check puts all six conjuncts to the state the fleet left behind and reads the radio transcripts:

ok   (Kw north contaminated-north) holds
ok   (Kw relay contaminated-north) holds
ok   (Kw south contaminated-south) holds
ok   (Kw relay contaminated-south) holds
ok   (Kw observer contaminated-north) does not hold
ok   (Kw observer contaminated-south) does not hold
ok   relay was spoken to, 2 time(s)
ok   observer was spoken to by nobody

What is in here

• config/office_sites.json, the task map: two agents bound to the two office robots, two sites at different waypoints, and the four speech acts.
• launch/survey_sites_rmf_launch.py, on websocket port 7880 so that it and the one-site demo can be up at once.
• The README, which gains the second reference scenario and the measured pair.

The bridge is unchanged. Nothing here needed it to be.

What it still does not establish

The scan outcomes are the map's fallbacks, chosen by north: and south:, because an rmf_demos adapter drives robots and senses nothing. That limitation is the one already recorded for the one-site mission, and it is unchanged: what the fleet adds is the driving, the traffic management and the arbitration, not the finding.