[BUG]: Bug in Edge Action Manager2 #205
Description
Description of the bug
When navigation from node r7.5-cb to waypoint66, the children node selection is wrong which cause the coridoor estimation to be wrong
[navigation2.py-1] [INFO] [1752430226.435063591] [edge_action_manager]: Edge Action Manager: Children edges ['WayPoint66', 'r7.5-cb']
[navigation2.py-1] ----------Index.... r7-ca
[navigation2.py-1] ----------Index.... r8-ca
[navigation2.py-1] [INFO] [1752430226.436505671] [edge_action_manager]: Edge Action Manager: Next Egdges edges {'r8-ca': ({'orientation': {'w': 0.756889507045039, 'x': 0.0, 'y': 0.0, 'z': -0.6535428632653851}, 'position': {'x': 16.2781791687, 'y': -10.2434005737, 'z': 0.0}}, array([ 16.27817917, -10.24340057])), 'r6.5-ca': ({'orientation': {'w': 0.7566142743603234, 'x': 0.0, 'y': 0.0, 'z': -0.6538614836754045}, 'position': {'x': 18.252493548747736, 'y': -9.694890412504861, 'z': 0.0}}, array([18.25249355, -9.69489041])), 'r6-ca': ({'orientation': {'w': 0.7568895070450389, 'x': 0.0, 'y': 0.0, 'z': -0.6535428632653852}, 'position': {'x': 18.9433765411, 'y': -9.84392356873, 'z': 0.0}}, array([18.94337654, -9.84392357])), 'r7-ca': ({'orientation': {'w': 0.7568895070450389, 'x': 0.0, 'y': 0.0, 'z': -0.6535428632653852}, 'position': {'x': 17.6317653656, 'y': -10.0511760712, 'z': 0.0}}, array([ 17.63176537, -10.05117607])), 'r8.5-ca': ({'orientation': {'w': 0.7566142743603234, 'x': 0.0, 'y': 0.0, 'z': -0.6538614836754045}, 'position': {'x': 15.580958737071159, 'y': -10.061214516016259, 'z': 0.0}}, array([ 15.58095874, -10.06121452]))}
[navigation2.py-1] [INFO] [1752430226.437084191] [edge_action_manager]: Edge Action Manager: Children edges ['r8-ca', 'r7-ca']
[navigation2.py-1] [INFO] [1752430226.437660250] [edge_action_manager]: =============children h selected ===== r8-ca ca
[navigation2.py-1] [INFO] [1752430226.438193410] [edge_action_manager]: =============children h selected ===== r8-ca
[navigation2.py-1] [INFO] [1752430226.438686407] [edge_action_manager]: =============after children===== r8-ca
[navigation2.py-1] [INFO] [1752430226.439377979] [edge_action_manager]: =============children i selected ===== geometry_msgs.msg.PoseStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id='map'), pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=16.2781791687, y=-10.2434005737, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.6538614836754045, w=0.7566142743603234))) geometry_msgs.msg.PoseStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id='map'), pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=16.190577461421224, y=-7.288355336187914, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.6538614836754045, w=0.7566142743603234)))
[navigation2.py-1] [INFO] [1752430226.439878930] [edge_action_manager]: =============children h selected ===== r7-ca ca
[navigation2.py-1] [INFO] [1752430226.440375861] [edge_action_manager]: =============children h selected ===== r7-ca
[navigation2.py-1] [INFO] [1752430226.440855217] [edge_action_manager]: =============after children===== r7-ca
[navigation2.py-1] [INFO] [1752430226.441472808] [edge_action_manager]: =============children i selected ===== geometry_msgs.msg.PoseStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id='map'), pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=17.6317653656, y=-10.0511760712, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.6538614836754045, w=0.7566142743603234))) geometry_msgs.msg.PoseStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id='map'), pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=17.544163658321224, y=-7.096130833687914, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.6538614836754045, w=0.7566142743603234)))
[navigation2.py-1] [INFO] [1752430226.442246025] [edge_action_manager]: Edge Action Manager: Action row_operation Bt_tree :
[navigation2.py-1] [INFO] [1752430226.442798029] [edge_action_manager]: Edge Action Manager: seg: 2, action: goal_align, edge id: WayPoint66_r6.5-ca
[navigation2.py-1] [INFO] [1752430226.443295091] [edge_action_manager]: Edge Action Manager: Action goal_align Bt_tree : /home/ros/aoc_strawberry_scenario_ws/install/aoc_strawberry_scenario_bringup/share/aoc_strawberry_scenario_bringup/config/robots/hunter_platform/topological_manager/bt_tree_goal_align.xml
[navigation2.py-1] [INFO] [1752430226.444075315] [edge_action_manager]: Edge Action Manager: seg: 3, action: row_traversal, edge id: r6.5-ca_r6.5-cb
[navigation2.py-1] ===========target_row_edge_id r6.5-ca tag_id ca
[navigation2.py-1] ===========target_row_edge_id r6.5-ca tag_id ca
[navigation2.py-1] [INFO] [1752430226.444880424] [edge_action_manager]: Edge Action Manager: Action in_row_operation
[navigation2.py-1] [INFO] [1752430226.445647992] [edge_action_manager]: Edge Action Manager: Edge id and tag id r6.5-ca ca
[navigation2.py-1] [INFO] [1752430226.446523345] [edge_action_manager]: Edge Action Manager: Center edge node {'meta': {'map': 'riseholme', 'node': 'r6.5-ca', 'pointset': 'riseholme_restrict', 'tag': ['node_semantic::entrance']}, 'node': {'edges': [{'action': 'row_traversal', 'action_type': 'geometry_msgs/PoseStamped', 'config': [], 'edge_id': 'r6.5-ca_r6.5-cb', 'fail_policy': 'fail', 'fluid_navigation': True, 'goal': {'target_pose': {'header': {'frame_id': '$node.parent_frame'}, 'pose': '$node.pose'}}, 'node': 'r6.5-cb', 'recovery_behaviours_config': '', 'restrictions_planning': 'robot_short', 'restrictions_runtime': 'obstacleFree_1'}, {'action': 'NavigateToPose', 'action_type': 'geometry_msgs/PoseStamped', 'config': [], 'edge_id': 'r6.5-ca_WayPoint66', 'fail_policy': 'fail', 'fluid_navigation': True, 'goal': {'target_pose': {'header': {'frame_id': '$node.parent_frame'}, 'pose': '$node.pose'}}, 'node': 'WayPoint66', 'recovery_behaviours_config': '', 'restrictions_planning': 'robot_short', 'restrictions_runtime': 'obstacleFree_1'}], 'localise_by_topic': '', 'name': 'r6.5-ca', 'parent_frame': 'map', 'pose': {'orientation': {'w': 0.7566142743603234, 'x': 0.0, 'y': 0.0, 'z': -0.6538614836754045}, 'position': {'x': 18.252493548747736, 'y': -9.694890412504861, 'z': 0.0}}, 'properties': {'xy_goal_tolerance': 0.3, 'yaw_goal_tolerance': 6.28}, 'restrictions_planning': 'False', 'restrictions_runtime': 'obstacleFree_1', 'verts': [{'x': 0.3839717361251064, 'y': -0.6411198818013286}, {'x': 0.5264215248037732, 'y': -0.212953957097135}, {'x': 0.4432315207951729, 'y': 0.3549856737865013}, {'x': 0.1839678947585299, 'y': 0.724309885809929}, {'x': -0.3839717361251064, 'y': 0.6411198818013286}, {'x': -0.5264215248037732, 'y': 0.212953957097135}, {'x': -0.4432315207951729, 'y': -0.3549856737865013}, {'x': -0.1839678947585299, 'y': -0.724309885809929}]}}
[navigation2.py-1] [INFO] [1752430226.447369491] [edge_action_manager]: Edge Action Manager: Children edges ['r6.5-cb', 'WayPoint66']
[navigation2.py-1] ----------Index.... r6-ca
[navigation2.py-1] ----------Index.... r7-ca 
Steps To Reproduce
Launch the aoc strawberry scenario, then once the robot inside r7.5, click in an outer node
Additional Information
No response