Expected behavior of other robots when one is performing teleop action

[piliwilliam0306]

Issue:
I expect tinyRobot2 to find an alternate route instead of continuously attempting to pass through tinyRobot1 since tinyRobot1 is performing teleop action. However, it seems to get stuck trying to go through the occupied path.

Question:
Is there a way to tune open-rmf or its configuration to encourage rerouting or dynamic replanning in this situation so tinyRobot2 finds another path? Any relevant parameters or approaches I should look into?

Steps to reproduce:
Send tinyRobot2 to patrol_D1 with below script:
ros2 run rmf_demos_tasks dispatch_patrol -F tinyRobot -R tinyRobot2 -p patrol_D1 --use_sim_time

Send tinyRobot1 to patrol_A1 to perform teleop with below script:
ros2 run rmf_demos_tasks dispatch_action -F tinyRobot -R tinyRobot1 -a teleop -s patrol_A1 --use_sim_time

Once tinyRobot1 start performing teleop action on patrol_A1, send tinyRobot2 to coe:
ros2 run rmf_demos_tasks dispatch_patrol -F tinyRobot -R tinyRobot2 -p coe --use_sim_time

Screencast.from.04-20-2025.09.30.40.PM.webm

[piliwilliam0306]

@mxgrey

Could you please help to clarify?
Thank you for your time!