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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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core/include/robot_bt/core.hpp
+1 -2
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@@ -60,7 +60,6 @@ struct GoalRequest {
std::optional<TargetBinding> target;
std::optional<PlacementBinding> placement;
std::string target_id, destination_id, shelf, posture_id;
std::string navigation_kind, navigation_ref, side, column, tier;
std::uint64_t geometry_epoch{0};
RosTime capture_after{0};
double position_tolerance_m{0.05}, orientation_tolerance_rad{0.1};
@@ -201,7 +200,7 @@ class StageRunner {
std::uint64_t geometry_epoch_{0};
RosTime capture_after_{0}, last_ros_time_{0}, holding_valid_until_{0}, holding_observed_at_{0}, empty_valid_until_{0}, empty_observed_at_{0};
std::size_t stage_index_{0};
std::string active_goal_, source_location_, source_side_, source_column_, source_tier_, verification_goal_, pending_posture_, detail_, error_code_;
std::string active_goal_, source_location_, verification_goal_, pending_posture_, detail_, error_code_;
std::optional<SteadyTime> waiting_since_;
std::optional<SteadyTime> motion_waiting_since_;
std::optional<SteadyTime> stopped_waiting_since_;