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Unify navigation on NavigateToPose and remove legacy proxies

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wangfeiyu
2026-09-22 17:40:25 +08:00
parent 964d1fde67
commit 24e0b922bc
40 changed files with 461 additions and 2592 deletions
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config/mock_executor_inputs.example.yaml
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@@ -3,7 +3,7 @@
# Fill scenarios_json explicitly for the selected route/site and evidence policy.
/sim/robot_01/bt_mock_skills:
ros__parameters:
enabled_actions: [navigate, navigate_semantic, execute_manipulation, plan_task, locate_shelf_column, localize_target_3d, check_free_space, assess_grasp, execute_posture, verify_state, evaluate_progress]
enabled_actions: [navigate, execute_manipulation, plan_task, locate_shelf_column, localize_target_3d, check_free_space, assess_grasp, execute_posture, verify_state, evaluate_progress]
enabled_topics: [robot_state, safety_state, visual_observation, dense_progress]
initial_holding_state: UNKNOWN
scenarios_json: '{}'