2026-09-22 14:35:14 +08:00
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# Navigation contract: trace and stop evidence retained across all attempts.
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# Enum values are explicit; both peers must build this same interface package.
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2026-09-20 12:18:52 +08:00
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bt_skill_interfaces/TaskTrace trace
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geometry_msgs/PoseStamped target_pose
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float64 position_tolerance
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float64 yaw_tolerance
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2026-09-20 12:18:52 +08:00
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builtin_interfaces/Duration timeout
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---
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2026-09-22 14:35:14 +08:00
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bt_skill_interfaces/NavigationResult result
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bool final_pose_valid
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2026-09-20 12:18:52 +08:00
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geometry_msgs/PoseStamped final_pose
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float64 final_position_error
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2026-09-22 14:35:14 +08:00
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float64 final_yaw_error
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2026-09-20 12:18:52 +08:00
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---
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2026-09-22 14:35:14 +08:00
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uint8 ACCEPTED=0
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uint8 CHECKING=1
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2026-09-20 12:18:52 +08:00
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uint8 NAVIGATING=2
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2026-09-22 14:35:14 +08:00
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uint8 BLOCKED=3
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uint8 STOPPING=4
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2026-09-20 12:18:52 +08:00
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builtin_interfaces/Time stamp
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uint32 sequence
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uint8 phase
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2026-09-22 14:35:14 +08:00
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bool current_pose_valid
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2026-09-20 12:18:52 +08:00
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geometry_msgs/PoseStamped current_pose
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2026-09-22 14:35:14 +08:00
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bool error_valid
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2026-09-20 12:18:52 +08:00
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float64 position_error
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2026-09-22 14:35:14 +08:00
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float64 yaw_error
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2026-09-20 12:18:52 +08:00
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bool blocked
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builtin_interfaces/Duration elapsed_time
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string message
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