Unify navigation on NavigateToPose and remove legacy proxies

ros2/bt_skill_interfaces/CMakeLists.txt

@@ -10,7 +10,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/ObjectTarget.msg"
   "msg/RegionTarget.msg"
   "msg/ExecutionResult.msg"
-  "msg/NavigationResult.msg"
   "msg/ObservationContext.msg"
   "msg/RobotState.msg"
   "msg/SafetyState.msg"
@@ -18,8 +17,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Station.msg"
   "msg/TargetBinding.msg"
   "msg/PlacementBinding.msg"
-  "action/Navigate.action"
-  "action/NavigateSemantic.action"
   "action/EvaluateProgress.action"
   "msg/VisualObservation.msg"
   "msg/DenseProgress.msg"

ros2/bt_skill_interfaces/action/Navigate.action

@@ -1,30 +0,0 @@
-# Navigation contract: trace and stop evidence retained across all attempts.
-# Enum values are explicit; both peers must build this same interface package.
-bt_skill_interfaces/TaskTrace trace
-geometry_msgs/PoseStamped target_pose
-float64 position_tolerance
-float64 yaw_tolerance
-builtin_interfaces/Duration timeout
----
-bt_skill_interfaces/NavigationResult result
-bool final_pose_valid
-geometry_msgs/PoseStamped final_pose
-float64 final_position_error
-float64 final_yaw_error
----
-uint8 ACCEPTED=0
-uint8 CHECKING=1
-uint8 NAVIGATING=2
-uint8 BLOCKED=3
-uint8 STOPPING=4
-builtin_interfaces/Time stamp
-uint32 sequence
-uint8 phase
-bool current_pose_valid
-geometry_msgs/PoseStamped current_pose
-bool error_valid
-float64 position_error
-float64 yaw_error
-bool blocked
-builtin_interfaces/Duration elapsed_time
-string message

ros2/bt_skill_interfaces/action/NavigateSemantic.action

@@ -1,24 +0,0 @@
-# v1.1 navigation-owned lookup; no model-supplied pose.
-bt_skill_interfaces/TaskTrace trace
-string kind
-string reference
-string shelf_id
-string side_id
-string column_id
-string tier_id
-uint32 registry_version
-float32 position_tolerance
-float32 orientation_tolerance
-builtin_interfaces/Duration timeout
----
-bt_skill_interfaces/ExecutionResult result
-geometry_msgs/PoseStamped final_pose
-bool pose_valid
-float32 final_position_error
-float32 final_orientation_error
-bool errors_valid
----
-builtin_interfaces/Time stamp
-uint32 sequence
-uint8 phase
-string message

ros2/bt_skill_interfaces/msg/NavigationResult.msg

@@ -1,15 +0,0 @@
-# Navigation-specific outcomes; do not decode with ExecutionResult enum values.
-uint8 SUCCEEDED=0
-uint8 CANCELED=1
-uint8 TIMEOUT=2
-uint8 BLOCKED=3
-uint8 NOT_READY=4
-uint8 FAILED=5
-uint8 UNKNOWN=0
-uint8 CONFIRMED=1
-uint8 status
-string error_code
-string message
-uint8 stop_state
-builtin_interfaces/Time stopped_at
-string stop_evidence_ref

ros2/bt_skill_interfaces/package.xml

@@ -2,7 +2,7 @@
 <package format="3">
   <name>bt_skill_interfaces</name>
   <version>2.0.0</version>
-  <description>Robot skill contracts with navigation-specific outcomes and stop evidence.</description>
+  <description>Robot task and manipulation contracts with stop evidence.</description>
   <maintainer email="feiyuwang1998@gmail.com">wangfeiyu</maintainer>
   <license>Proprietary</license>
   <buildtool_depend>ament_cmake</buildtool_depend>