[Bug]: Unnecessary Waiting Behavior in Multi-Robot Operation

[LimJingXiang1226]

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

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

OS and version

Ubuntu 24.04

Open-RMF installation type

Binaries

Other Open-RMF installation methods

No response

Open-RMF version or commit hash

release-jazzy-250617

ROS distribution

Jazzy

ROS installation type

Binaries

Other ROS installation methods

No response

Package or library, if applicable

No response

Description of the bug

When two robots operate in the same lane, they sometimes experience unnecessary waiting periods. These delays persist until they are forcefully aborted by a 30-second timeout, which negatively impacts system efficiency.

Steps to reproduce the bug

1. Deploy two robots running in the same lane with a waiting mechanism.
2. Observe their behavior.
3. Notice that both robots sometimes remain waiting for traffic while nothing is blocking it .
4. The wait is only aborted after an extensive 30-second timeout.

Expected behavior

No response

Actual behavior

No response

Additional information or screenshots

No response

[mxgrey]

This sounds like it's the same issue as #567

Please let us know if you notice any difference between what you are observing and what was reported in that discussion.

[LimJingXiang1226]

yes it is similar issue