Robot Stuck in "Waiting for Traffic" State Despite No Blockage

[alex-roba]

I've observed an issue where a robot unnecessarily waits for traffic at a waypoint, even though its destination is clear and unblocked. The robot remains stuck in the "Waiting for Traffic" state indefinitely, until another robot moves to a different location. At that point, the waiting robot resumes its operation.

I've attached a video demonstrating the behavior. In the video, pay close attention to Robot 1, which exhibits the issue. It stops and waits unnecessarily without any apparent reason for the delay.

unncceary_wait.-.Trim.online-video-cutter.com.1.mp4

[mxgrey]

Thanks for catching and reporting this. It appears to be a bug in either the traffic dependency system or the traffic schedule update system. If you're able to provide a package (i.e. the map file and some launch files) that reliably reproduce the bug, I'll dig in to identify the cause and figure out a fix.