I think there is a misconception about Segment ID's and their actual usage.
In the multi robot router node, the id and the index of a RouteSegment are treated as two different concepts. The LocalBehaviourControllerNode however, assigns the index of a segment to the active segment member of a RobotInfo message (see here and here).
This can lead to bugs, since one could rely on segment id's which are not valid because they are treated as such.
I think there is a misconception about Segment ID's and their actual usage. In the multi robot router node, the id and the index of a RouteSegment are treated as two different concepts. The LocalBehaviourControllerNode however, assigns the index of a segment to the active segment member of a RobotInfo message (see here and here).
This can lead to bugs, since one could rely on segment id's which are not valid because they are treated as such.