There are issues with the way stations work in the 2D region workspace. If the agent is asked to leave a station but this one is placed at the center of the cell, the pose of the go to action will be the same as the station pose. Therefor the agent would never leave the station. It's also possible for the agent to enter a station by accident when only asked to go through a cell.
To solve these issues, this pull-request implements a access request system for stations. When moving to a station, the agent needs to request access on a topic. If the agent is both on the station and requesting access, it will be considered on the station. To leave the station the agent simply empty the access request.
There are issues with the way stations work in the 2D region workspace. If the agent is asked to leave a station but this one is placed at the center of the cell, the pose of the go to action will be the same as the station pose. Therefor the agent would never leave the station. It's also possible for the agent to enter a station by accident when only asked to go through a cell.
To solve these issues, this pull-request implements a access request system for stations. When moving to a station, the agent needs to request access on a topic. If the agent is both on the station and requesting access, it will be considered on the station. To leave the station the agent simply empty the access request.