Unify navigation on NavigateToPose and remove legacy proxies

ros2/bt_executor/tools/build_humble.sh

@@ -14,5 +14,5 @@ cd "$bt_repo_root"
 # Install/build upstream BehaviorTree.CPP 4.10.0 separately and source its prefix.
 # EXACT REQUIRED intentionally rejects an incompatible system BT.CPP package.
 colcon build --base-paths ros2 --packages-up-to bt_executor robobrain_services bt_mock_servers --event-handlers console_direct+
-colcon test --packages-select bt_skill_interfaces bt_executor --event-handlers console_direct+
+colcon test --packages-select navigation_interfaces bt_skill_interfaces bt_executor --event-handlers console_direct+
 colcon test-result --verbose

ros2/bt_executor/tools/check_static.py

@@ -38,8 +38,8 @@ def header_name(name):
 
 
 for source in list((PACKAGE / 'src').glob('*.cpp')) + list((PACKAGE / 'include/bt_executor').glob('*.hpp')):
-    for kind, name in re.findall(r'bt_skill_interfaces/(action|msg)/(\w+)\.hpp', source.read_text()):
-        candidates = list((PACKAGE.parent / 'bt_skill_interfaces' / kind).glob('*'))
+    for package, kind, name in re.findall(r'(bt_skill_interfaces|navigation_interfaces)/(action|msg)/(\w+)\.hpp', source.read_text()):
+        candidates = list((PACKAGE.parent / package / kind).glob('*'))
         assert any(header_name(v.stem) == name for v in candidates), (source, kind, name)
 ET.parse(PACKAGE / 'package.xml')
 print(f'Static checks passed: {len(actual)} ordered core stages, six skill templates, generated IDL include names, package XML.')

ros2/bt_executor/tools/native_navigation_probe.cpp

@@ -20,7 +20,7 @@ int main(int argc,char** argv) {
     while(!driver.ready(robot_bt::Skill::NAVIGATE)&&robot_bt::SteadyClock::now()<until) {
       rclcpp::spin_some(node); std::this_thread::sleep_for(std::chrono::milliseconds(10));
     }
-    if(!driver.ready(robot_bt::Skill::NAVIGATE)) throw std::runtime_error("Navigate discovery timed out");
+    if(!driver.ready(robot_bt::Skill::NAVIGATE)) throw std::runtime_error("NavigateToPose discovery timed out");
     robot_bt::GoalRequest request;
     request.goal_id="probe-"+std::to_string(scenario);request.robot_id="robot_01";
     request.trace.task_id=request.goal_id;request.trace.run_id=request.goal_id;request.trace.subtask_id="navigate";
@@ -35,7 +35,7 @@ int main(int argc,char** argv) {
       rclcpp::spin_some(node);registry.pump(robot_bt::SteadyClock::now());
       auto record=registry.find(active_id);
       if(!record) throw std::runtime_error("registry lost active goal: "+active_id);
-      if((scenario==1||scenario==6)&&record->accepted&&!canceled) {
+      if((scenario==1||scenario==6||scenario==9)&&record->accepted&&!canceled) {
         registry.request_cancel(active_id,robot_bt::SteadyClock::now());canceled=true;
       }
       if(record->result) break;
@@ -51,7 +51,7 @@ int main(int argc,char** argv) {
     if(!record||!record->result) throw std::runtime_error("result timeout");
     const auto& result=*record->result;
     bool blocked_redispatch=false;
-    if(scenario==6) {
+    if(scenario==6||scenario==9||scenario==10) {
       auto next=request;next.goal_id+="-forbidden-retry";
       next.trace.subtask_id="navigate-forbidden-retry";++next.trace.attempt;
       blocked_redispatch=!registry.start(next,robot_bt::SteadyClock::now()).has_value();