[Other issue]: RMF sending multiple identical goal with different orientation

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

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

Description

Hi All!

First of all I would like to congratulate you for the huge and amazing job you have done so far and what are you still doing!

I'm trying to solve an issue with RMF for my robotics project with multiple robots.
In this scenario I have a couple of huskies which are managed by a free fleet system and each one of them has a full control fleet adapter integrated.

Now, everything works correctly until, in the middle of simulation, the robot seems to receive multiple goals with the same x and y, but different yaw. The same behavior happens, not only in a waypoint, but in the middle of a lane.
See below.

It seems quite strange here since in the moment these goals are sent there's no conflict to solve and the robot could simply follow the other goals.

I tried to look for similar issues around the discussions, but, a part from the #429 (which didn't solve my problem because ResponsiveWait is set to False), there are no discussions at all.

At this point a few questions comes out:

• Who can be the responsible of this behavior?
• How can i solve this issue?

Required information:

• Operating system and version: Ubuntu 22.04.
• ROS distribution and version: Humble.
• OpenRMF version branch: humble.
• Fleet management system: Free fleet.
• Fleet adapter: Full control fleet adapter.

Expected behavior:

The robot should remain still in whatever situation (conflicts or not).

Thank you for a possible answer!

Read rmf_fleet_adapter/src/full_control/main.cpp first and compare the goals observed in the waypoint and lane cases with the Free Fleet output. Review issue #429 for related behavior and trace where differing-yaw goals are published. Done means identifying the responsible component and preventing duplicate goals, or documenting a confirmed upstream cause.