Missions not starting when robot is ready

[andchiind]

Describe the bug
Even though the robot is ready and there is an ongoing mission, tasks are not being started.

To Reproduce
Run isar_robot, but remove the sleeps in initiate_mission and initiate_step (this is a realistic test for robots that do not require localization). Then schedule a few missions, wait for them to finish and repeat. This bug will likely happen eventually.

Expected behavior
If the robot is available and there are missions in the queue, then these missions should be started. The problem likely lies in the way return to home missions work. In this case the robot was restarted at one point, which resulted in return to home being scheduled when it restarted. The robot is idle in ISAR.

Screenshots

[aeshub]

This issue has automatically been marked as stale as there has been no activity for 60 days.

[andchiind]

Not able to recreate anymore