Unify navigation on NavigateToPose and remove legacy proxies

2026-09-22 17:40:25 +08:00
parent 964d1fde67
commit 24e0b922bc
40 changed files with 461 additions and 2592 deletions
@@ -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
@@ -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