[Bug]: RobotUpdateHandle API set_charger_waypoint() doesn't work

[CarlyyyChen]

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

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

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

2.0.3

ROS distribution

Humble

ROS installation type

Source build

Other ROS installation methods

No response

Package or library, if applicable

No response

Description of the bug

The API here https://github.com/open-rmf/rmf_ros2/blob/humble/rmf_fleet_adapter/include/rmf_fleet_adapter/agv/RobotUpdateHandle.hpp#L103 is supposed to set a dedicated charger waypoint for the robot, however this seems not working. According to the comments for this method, if no dedicated charger is set, then the system will use the nearest charger to the robot's spawn place as the robot's charger. However, if you run the demo (office demo for example), if in configuration file (like in https://github.com/open-rmf/rmf_demos/blob/humble/rmf_demos/config/office/tinyRobot_config.yaml#L55) you set another charger waypoint different with the robot's spawn place as the robot's dedicated charger, the robot will still go back to its spawn place (which is also a charger) after finishing a task instead of its dedicated charger.

My guess is, what implemented in the FleetUpdateHandle here

rmf_ros2/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/internal_FleetUpdateHandle.hpp

Line 620 in 0685ec2

std::optional<std::size_t> get_nearest_charger(

is taking priority over the RobotCommandHandle API, but not sure how. And this seems not working as intended. Thanks much for further clarification!

Steps to reproduce the bug

1. Change dedicated charger waypoint name in configuration file to another charger different with the robot's spawn place. For example in https://github.com/open-rmf/rmf_demos/blob/humble/rmf_demos/config/office/tinyRobot_config.yaml#L55
2. build, source, and run the office demo using ros2 launch rmf_demos_gz_classic office.launch.xml
3. send tasks using ros2 run rmf_demos_tasks dispatch_patrol -p coe lounge -n 3 --use_sim_time
   ros2 run rmf_demos_tasks dispatch_delivery -p pantry -ph coke_dispenser -d hardware_2 -dh coke_ingestor --use_sim_time
4. you will observe that after finishing the task, tiny robot 1 will still goes back to its spawn place (tinyRobot1_charger), instead of another charger that you specify as the tinyRobot1's dedicated charger in step 1

Expected behavior

No response

Actual behavior

No response

Additional information or screenshots

No response