[Feature request]: What is the Task excute mechanism

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

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Description

As the topic.Here is a example what i want to describe .two robot: robot1,robot2,10point :point_1-point_10.
Assmuing:
robot1:
position: point_5
target: point_6
robot2:
position: point_4
target: point_5
As i launch RMF and NAV2.I fount that robot2 will wait at all time until robot1 have reached point_6.Then robot2 start navigate to point_5.Why not let robot2 start navigate to point_5 as soon as robot1 leave point_5 rather than robot1 reached next point?

Implementation Considerations

No response

Alternatives

No response

Additional information

1. I've implement the connection between Nav2 and rmf. So rmf nav2 will plan path when rmf receive task and send it.
   2.I think the possible reason is that every point is preempted at all time if a robot have reached here until robot reach another point .Then this point release so that it can be plan as a point. Could you tell me where is the source code to implement this?

No source files, tests, or entry points are named. Start by tracing RMF task execution and the connection to Nav2, focusing on how robot positions and targets reserve points. Done means the execution mechanism and the requested point-release behavior are clearly specified, with affected code and tests identified.