HUNGARIAN_COST_MATRIX
     T1   T2   T3   T4   T5
R1 [ 12   28   45   19   33 ]
R2 [ 38   14   22   41   27 ]
R3 [ 25   42   16   30   48 ]
R4 [ 44   31   39   11   20 ]
R5 [ 17   36   29   43   15 ]
OPTIMAL_ASSIGNMENT:
R1 → T1 (cost: 12)
R2 → T2 (cost: 14)
R3 → T3 (cost: 16)
R4 → T4 (cost: 11)
R5 → T5 (cost: 15)
TOTAL_COST: 68
R1 R2 R3 R4 R5 T1 T2 T3 T4 T5
FRAMEWORK: ROS2_HUMBLE
SIMULATOR: GAZEBO_11
PLANNER: A*_COSTMAP
ALLOCATOR: HUNGARIAN
COLLISION: COSTMAP_2D
ROBOTS: 5x_TURTLEBOT3
TASKS: 5_WAYPOINTS
SUCCESS_RATE: 99%
SCENARIOS: 10_VALID
NAV_STACK: NAV2