Incorrect deployment and finish times in Assignments generated for requests with earliest_start_time older than time_now
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Yadunund commented
Bug report
Required information:
- Operating system and version:
- Ubuntu 20.04
- OpenRMF installation type:
- Source
- OpenRMF version or commit hash
main
- ROS distribution and version:
- Foxy
- ROS installation type:
- Binary
- Package or library, if applicable:
rmf_task
Description of the bug
When planning for a set of requests with earliest_start_times well in the past, calling TaskPlanner::optimal_solve() by passing time_now as the current time will generate assignments with deployment_time and state.finish_time in the past. If a ChargeBattery request is needed before any of the tasks can be performed, it will be generated with deployment_time = time_now and placed at the beginning of the assignments but the assignments for the requests that follow will have deployment and finish_times in the past.
Expected behavior
The deployment_time and finish_time of assignments should be greater than or equal to time_now.