Fix nullopt dereference in GoToPlace goal selection of 'one_of'

[kjchee]

Bug fix

Fixed bug

When using 'one_of' feature in GoToPlace, a reachable goal followed by an unreachable goal (eg. lane closed) combination will trigger a runtime failure. eg:

The root cause is a nullopt dereference during goal selection, where the estimate time comparison unconditionally accesses invariant_duration_opt for a subsequent unreachable goal while generating the GoToPlace model.

Fix applied

Applied a nullopt check before else if (shortest_travel_time.value() > invariant_duration_opt.value()).
If invariant_duration_opt is nullopt then we skip this goal candidate.

To test

a. Before fix:

1. run office demo
2. i turn off finishing request (set to 'nothing') to ensure at start, tinyRobot1 is at waypoint tinyRobot1_charger, and tintRobot2 is at waypoint tinyRobot2_charger.
3. close lanes between waypoint presupplies & waypoint patrol_D2
ros2 topic pub /lane_closure_requests rmf_fleet_msgs/msg/LaneRequest "{fleet_name: 'tinyRobot', open_lanes: [], close_lanes: [0,1]}" --once

4. send gotoplace task with 'one_of' (coe & supplies)
   ros2 run rmf_demos_tasks dispatch_go_to_place -p coe supplies --use_sim_time
5. we will see the runtime failure.

b. After fix:

1. apply the fix and repeat the above step, and there will be no runtime failure

GenAI Use

We follow OSRA's policy on GenAI tools

• I used a GenAI tool in this PR.
• I did not use GenAI

Generated-by:

[arjo129]

Thanks for catching this! Tested and confirmed that the fix solves the bug,

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 0.00%. Comparing base (99ec3bf) to head (f85bc65).
⚠️ Report is 50 commits behind head on main.

Additional details and impacted files

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- Coverage   36.44%      0   -36.45%     
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  Files          65      0       -65     
  Lines        2557      0     -2557     
  Branches     1416      0     -1416     
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- Hits          932      0      -932     
+ Misses        550      0      -550     
+ Partials     1075      0     -1075     

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