Included functionality to execute an EMP goal is the robot is already on the route #240
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… half way along the route.
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This change should enable, in the instance of a robot being half way along the execute poilicy mode route, to still execute that route, trimming off the completed portions.
i.e. prior fail case where robot is on
w3:S-w1-w2-w3-w4-w5-w6-Gwill now trim to:
S-w4-w5-w6-G