Can RMF obtain whether the robot has successfully entered the lift

[liugehaizaixue]

I have read the source code about RMF for scheduling robots and lifts, and conducted testing. My understanding of the RMF scheduling robot's cross floor process is as follows: RMF specifies the path for the robot and calls the lift when the robot walks in front of it. Then the robot enters the lift and reaches the target floor. However, is there any situation in the actual process where the robot fails to successfully enter the lift after it arrives. So it raises the following questions:
1、 Can RMF obtain whether the robot has successfully entered the lift and whether there is a confirmation process ?
2、 Is there a situation where people and robots use lifts together ? If the lift is full, it will cause the robot to fail to enter the lift successfully.
3、 What should RMF do if the robot fails to successfully enter the lift? At this point, the lift has been artificially controlled and left. Should the robot continue to wait for the next lift at the lift entrance? The robot has already sent 'request lift', will it continue to send requests?