Action server seems to just stop

Hi, I've run into an issue that i'd love to hear your thoughts on..

Essentially the action server seems to just stop responding to all inputs after some time of operating. These inputs are external (plan changes, actionCmd etc) and on the plan side (the plan just stops) this continues until the process is killed.

To replicate

Run the action server and simply spam a action / plan change (It seems to occur more when multiple actions are triggered simultaneously).
Run a plan which calls the same action continuously (this may take some time)

Ways it occurs for me

I have been testing sending multiple actions to robots and after a while of testing it will stop
I have a loop which tells the robots to follow a point continuously until a condition becomes true where it breaks to another action
Restarting a test plan (which calls multiple actions for testing)

Console output

Waiting for a plan...
[ INFO] [1607994609.248014594]: Action cmd: start consoleMessage warn_TEST
Action consoleMessage warn_TEST started at time: 1.60799e+09
[ INFO] [1607994609.257225353]: Action cmd: start consoleMessage warn_TEST2
[ WARN] [1607994609.257385435]: Plan WARNING: TEST
Action consoleMessage warn_TEST2 started at time: 1.60799e+09
[ WARN] [1607994609.270594755]: Plan WARNING: TEST2
[ INFO] [1607994609.272784462]: Action cmd: start consoleMessage warn_TEST3
Action consoleMessage warn_TEST3 started at time: 1.60799e+09
[ WARN] [1607994609.274585217]: Plan WARNING: TEST3
[ INFO] [1607994661.391367038]: Action cmd: start consoleMessage warn_TEST
Action consoleMessage warn_TEST started at time: 1.60799e+09
[ WARN] [1607994661.400304437]: Plan WARNING: TEST
[ INFO] [1607994661.401386096]: Action cmd: start consoleMessage warn_TEST2
[ INFO] [1607994661.409945466]: Action cmd: start consoleMessage warn_TEST3
Action consoleMessage warn_TEST2 started at time: 1.60799e+09
[ WARN] [1607994661.410603827]: Plan WARNING: TEST2
[ INFO] [1607994668.422907421]: Action cmd: start consoleMessage warn_TEST
[ INFO] [1607994668.431876781]: Action cmd: start consoleMessage warn_TEST2
[ INFO] [1607994668.437686243]: Action cmd: start consoleMessage warn_TEST3
[ INFO] [1607994668.422907421]: Action cmd: start consoleMessage warn_TEST
[ INFO] [1607994668.431876781]: Action cmd: start consoleMessage warn_TEST2
[ INFO] [1607994668.437686243]: Action cmd: start consoleMessage warn_TEST3

Another issue is that maybe there is something to do with multiple planners running since i'm implementing a multi-robot planner so here is the launch file for the local (robot) planner in case there is something obvious there that im missing (i'm new to ros)

<launch> 
    <arg name="plan_directory" default="$(find rosplans_local_planner)/plans"/>
    <arg name="config_directory" default="$(find rosplans_local_planner)/config"/>
    <arg name="plan" default="stop"/>
    <arg name="gui" default="false"/>
    <arg name="name" default="robot"/>
    <arg name="type" default="robot"/>
    <arg name="personality" default="base"/>
    <arg name="main_plan" default=""/>
    <arg name="recovery_plan" default=""/>
    <arg name="movebase" default=""/>
    <arg name="baselink" default=""/>

    <group ns="$(arg name)">
        <param name="robot_name" value="$(arg name)" />
        <param name="robot_type" value="$(arg type)" />
        <param name="robot_personality" value="$(arg personality)" />
        <param name="main_plan" value="$(arg main_plan)" />
        <param name="recovery_plan" value="$(arg recovery_plan)" />
        <param name="movebase" value="$(arg movebase)" />
        <param name="baselink" value="$(arg baselink)" />
        <param name="tf_prefix" value="$(arg name)" />

        <node pkg="rosplans_local_planner" type="pnpas" name="pnpas" args="" output="screen" />
        <node pkg="pnp_ros" type="pnp_node" name="pnp" args="" output="screen">
            <param name="plan_folder" value="$(arg plan_directory)/" />
            <param name="current_plan" value="$(arg plan)" />
            <param name="use_java_connection" value="$(arg gui)" />
        </node>
    </group>
</launch>

Thankyou, i'll continue to try to find the issue and i'll post here if i find it :)

iocchi / PetriNetPlans

Action server seems to just stop #28