[Bug]: Conflict Based Search Solver unable to solve some test cases.

[arjo129]

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

Open-RMF version or commit hash

0748f26

ROS distribution

Rolling

ROS installation type

Source build

Description of the bug

Planner unable to correctly solve certain instances.

Steps to reproduce the bug

Run the example that I have attached here: https://gist.github.com/arjo129/344d62ee1082919cb4b10f444f4d8ca1. The solver is unable to solve it.

Expected behavior

I expect agent A to wait at its starting location while waiting for B and C to head into the junction to give way to it. Instead, we cannot find a solution.

[arjo129]

This is not really a bug, to the best of my knowledge only LaCAM* is able to solve this instance.