Posted by @aaronchongth:
hi @cihattalat, thanks for the additional information. free_fleet still uses the legacy full control fleet adapter, hence it is unable to take advantage of the newer features which involve perform actions. An easy full control fleet adapter implemented to work with the ROS 1 or ROS 2 navigation stack will be the ideal direction for your use-case. But for your current setup, what you intend to achieve with a single task is not possible.
One workaround would be to splitting this into 2 different tasks, while the finishing task is nothing, which will allow the robot to stay at Point A indefinitely, until the second task is sent out to it to head to Point B.
On a side note, we acknowledge that free_fleet is terribly out-of-date with the rest of the Open-RMF features and development. We have started regular project management meetings for Open-RMF, where we align priorities, discuss progress and technical challenges. The requirements of the community, any new integrations, or contributions from the public can be discussed there.