[Bug]: Robots Entering Shared Docking Lane Simultaneously Despite Mutex Configuration

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OS and version

Ubuntu 22.04

Open-RMF installation type

Source build

Other Open-RMF installation methods

No response

Open-RMF version or commit hash

iron

ROS distribution

Iron

ROS installation type

Source build

Other ROS installation methods

No response

Package or library, if applicable

No response

Description of the bug

I am simulating a scenario where two robots need to pick up objects from a shared docking station. However, both robots are entering the docking lane simultaneously, causing them to collide with each other. I've already configured the lane and waypoint as mutually exclusive (mutex) in the traffic editor, but the collision still occurs. The attached video demonstrates the issue.
Screencast from 08-21-2024 05:33:36 PM.webm

Steps to reproduce the bug

1. Run simulation with turtlebots

Expected behavior

No response

Actual behavior

No response

Additional information or screenshots

No response

Start by reproducing the TurtleBot simulation on Open-RMF Iron from a source build, using the mutex-configured lane and waypoint. Then trace the traffic scheduling behavior around that shared docking lane; done means two robots no longer enter it simultaneously.