Problems with parking after finishing tasks

[Odin-byte]

Im have a setup of up to 4 robots running and i am currently testing some scenarios in emulation.

Right now I send two robots pickup up a box on two different stations, which both need to end at the same station.

This is the map:

To the right of the two robots you can see the point station south.

This is the place where both task end. But the robots arrive there at different times so they should be able to wait for one another (when one is leaving the lane from the station i.e.). This now seems to work after adding some waiting points before the entrance to the station lane. But there are 2 problems that remain:

1. If I tell the fleet adapter to do nothing after finishing a task the robot who arrived at the station first is not clearing the lane. It keeps standing on the station waypoint in front of the station. Thats it
2. If I tell the robots to park or charge they move away from the station but end up in a new deadlock as the second robot also wants to park or charge at the same spot. (That is the situation the robots are in, in the moment the screenshot was taken)

How can I fix this behavior? I either want the robot arriving first at the station to at least move out of the way to any waypoint out in the open.

The behavior of trying to charge at the same station also happens in general when charging, even though every robot is constantly updating its position.

The only time this does not happen is during the docking process as this service call is blocking. But the docking process ends at the charger waypoint and after that the position of the robot is updated and published to the fleet_states topic.

Any suggestions on how to solve this problem?

Also is there a way to not use chargers when parking the robot?
@Yadunund @mxgrey

[Odin-byte]

If you are wondering why there are two vertices close by one another in front of every charger, that is because I added one pre charger spot to start the docking from that is not on the main lane. That way I hoped the blocking docking service (and the pause in the position updates of the robot) would not interfere with the other robots in the fleet.

[Yadunund]

If I tell the fleet adapter to do nothing after finishing a task the robot who arrived at the station first is not clearing the lane. It keeps standing on the station waypoint in front of the station. Thats it

Presently this is not supported behavior and has been discussed extensively in several other posts including this one

If I tell the robots to park or charge they move away from the station but end up in a new deadlock as the second robot also wants to park or charge at the same spot. (That is the situation the robots are in, in the moment the screenshot was taken)

It might be the case that the charger waypoint for both robots is the same waypoint. See this discussion on how to assign unique charger waypoints for each robot.