[Bug]: RobotCommandHandle crashes when mode_request_cb() is called with missing robot_name/fleet_name about rmf_demos HOT 2 OPEN

Hello @DoppiaEffe94 ! Thanks for bringing this up and opening the PR for it. I've tried your steps to reproduce the bug in Office world (22.04 + Humble binaries + RMF source build) but I can't seem to replicate it.

If an empty fleet_name is provided, the message would be ignored as "" is not the fleet name (second condition in this line). If an empty robot_name is provided, the message would be accepted and the action is marked as finished successfully.

However, I think it is very reasonable to check for a not ... over a is None to rule out empty strings.

Additionally, as I was testing this I've found a relevant bug, which is the lack of a robot_name filter inside this mode_request_cb. If the action is performed by tinyRobot2 and I send a message to /action_execution_notice and populate it with robot_name: tinyRobot1, it would end tinyRobot2's action as well.

To follow up on this issue, may I request for 2 things:

1. If your mode_request_cb() is still crashing, could you provide some logs so that I can try to reproduce the problem? Preferably with a link to a gist. This is so that we can check if there are other underlying issues causing the crash.
2. Could you update your PR to add in a filter for robot_name, i.e. return if msg.robot_name != self.name since it is a relevant part of the code?

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Hey @xiyuoh !

Thank you for testing it, but apparently I was neither clear myself about what was the crashing issue.

I tested the code further and I found out the reason for the code to not working properly.
Apparently, I wouldn't need to provide you some logs because:

• If msg.fleet_name is empty, it returns as expected. However, this is not caused by msg.fleet_name is None but by msg.fleet_name != self.fleet_name. You can easily test it yourself by removing the condition msg.fleet_name != self.fleet_name and sending an empty fleet_name field. You can assume that msg.fleet_name is None is not doing its job.

Could you update your PR to add in a filter for robot_name, i.e. return if msg.robot_name != self.name since it is a relevant part of the code?

I updated the PR as you suggested.

Let me know if you need anything else or I was not clear.

Thank you!

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