Nav2 robot sometimes do not move immediately when sending task from RMF. about free_fleet HOT 5 CLOSED

Hello @shifsa! Could you elaborate a little more on the issue, perhaps how long did it take for the robot to start moving in these scenarios?

As for Responsive Wait, it is a mechanism in RMF that allows for re-routing these stationary robots (after it has completed its task and the finishing task is nothing), to allow other robots to pass through those lanes and waypoints. These Responsive Wait tasks, should be overwritten by new incoming tasks without the need to wait for it to be completed. In your scenario, is it the case that the robot waits for 30 seconds before it starts moving?

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Each time I submit a task, the time it takes for the robot to start moving varies.(max 30 seconds)
When I do not submit a task, the FreeFleet log shows the following.
[free_fleet_client_ros2-2] [INFO] [1660801148.050725901] [turtlebot3_burger1.turtlebot3_free_fleet_client_node]: we reached our goal early! Waiting 29.33 more seconds
As long as this log is displayed, the robot does not move even if I send a task.
Only the yellow ball of rmf_visualization starts moving.

After that, when the following log appears, the yellow ball reverts to a purple ball and the robot on Gazebo begins to move.
[free_fleet_client_ros2-2] [INFO] [1660801179.552140857] [turtlebot3_burger1.turtlebot3_free_fleet_client_node]: we reached our goal early! Waiting 0.01 more seconds

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Hello, @aaronchongth .
The video below recreates the situation.

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Hello @shifsa! I am able to replicate what you were facing, and I believe I have found a fix, #120.

My preliminary tests look good at the moment. Let me know if you still face issues with this fix.

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Hello, @aaronchongth .
Thanks for fixing the code.
It now works properly here too!

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