34 lines
828 B
Plaintext
34 lines
828 B
Plaintext
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# Preserved outer interface from BT DR pp13-14. Canonical ROS2 type: Navigate.
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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 orientation_tolerance
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builtin_interfaces/Duration timeout
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---
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bt_skill_interfaces/ExecutionResult result
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bool pose_valid
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geometry_msgs/PoseStamped final_pose
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bool errors_valid
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float64 final_position_error
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float64 final_orientation_error
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---
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uint8 CHECKING=0
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uint8 PLANNING=1
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uint8 NAVIGATING=2
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uint8 WAITING_OBSTACLE=3
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uint8 RECOVERING=4
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uint8 ARRIVING=5
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uint8 STOPPING=6
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builtin_interfaces/Time stamp
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uint32 sequence
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uint8 phase
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bool pose_valid
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geometry_msgs/PoseStamped current_pose
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bool errors_valid
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float64 position_error
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float64 orientation_error
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bool blocked_valid
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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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