Setting the canvas to fill=none, one can simply use the backgrounds library and the on background layer key to draw the arrow behind “Task 2”. I also set the outer xsep to zero so that the f-s line is perfectly straight.
To avoid ambiguity about that arrow corssing under “Task 2” I would draw the arrow around as in Example Y below. (One could also think of keys that only add to already established link bulge value.)
Code X
\documentclass[tikz,convert=false]{standalone}
\usepackage{pgfgantt}
\usetikzlibrary{backgrounds}
\begin{document}
\begin{ganttchart}[
/pgf/outer xsep=+0pt,
bar/.append style={orange},
canvas/.append style={fill=none},
link/.append style={thick}]{1}{6}
\ganttbar{Task 1}{1}{2} \\
\ganttbar{Task 2}{3}{4} \\
\ganttbar{Task 3}{5}{6}
\ganttlink[link type=f-s]{elem0}{elem1}
\begin{scope}[on background layer]
\ganttlink{elem0}{elem2}
\end{scope}
\end{ganttchart}
\end{document}
Output X

Code Y
\documentclass[tikz,convert]{standalone}
\usepackage{pgfgantt}
\newganttlinktype{rdldr*}{%
\draw [/pgfgantt/link]
(\xLeft, \yUpper) --
(\xLeft + \ganttvalueof{link bulge 1} * \ganttvalueof{x unit},
\yUpper) --
($(\xLeft + \ganttvalueof{link bulge 1} * \ganttvalueof{x unit},
\yUpper)!%
\ganttvalueof{link mid}!%
(\xLeft + \ganttvalueof{link bulge 1} * \ganttvalueof{x unit},
\yLower)$) --
($(\xRight - \ganttvalueof{link bulge 2} * \ganttvalueof{x unit},
\yUpper)!%
\ganttvalueof{link mid}!%
(\xRight - \ganttvalueof{link bulge 2} * \ganttvalueof{x unit},
\yLower)$) --
(\xRight - \ganttvalueof{link bulge 2} * \ganttvalueof{x unit},
\yLower) --
(\xRight, \yLower);%
}
\ganttset{
link bulge 1/.link=/pgfgantt/link bulge,
link bulge 2/.link=/pgfgantt/link bulge}
\begin{document}
\begin{ganttchart}[
bar/.append style={orange},
link/.append style={thick},
link bulge=.5]{1}{6}
\ganttbar{Task 1}{1}{2} \\
\ganttbar{Task 2}{3}{4} \\
\ganttbar{Task 3}{5}{6}
\ganttlink{elem0}{elem1}
\ganttlink[link type=rdldr*, link bulge 1=2.5, link mid=.75]{elem0}{elem2}
\end{ganttchart}
\begin{ganttchart}[
bar/.append style={orange},
link/.append style={thick},
link bulge=.5]{1}{6}
\ganttbar{Task 1}{1}{2} \\
\ganttbar{Task 2}{3}{4} \\
\ganttbar{Task 3}{5}{6}
\ganttlink{elem0}{elem1}
\ganttlink[link type=rdldr*, link bulge 2=2.5, link mid=.25]{elem0}{elem2}
\end{ganttchart}
\end{document}
Output Y


backgroundslibrary and the optionon background layeror simply with PGF layers (without a library available). Problem is though that the whole chart is filled in white. You will need more than two layer (background and main) or disable that filling somehow. – Qrrbrbirlbel Aug 26 '13 at 13:19