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
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.8)
+project(navigation_interfaces)
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "action/NavigateToPose.action"
+  DEPENDENCIES builtin_interfaces geometry_msgs
+)
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
@@ -0,0 +1,44 @@
+string task_id
+string subtask_id
+geometry_msgs/PoseStamped target_pose
+float64 position_tolerance
+float64 yaw_tolerance
+builtin_interfaces/Duration timeout
+---
+uint8 SUCCEEDED=0
+uint8 CANCELED=1
+uint8 TIMEOUT=2
+uint8 BLOCKED=3
+uint8 NOT_READY=4
+uint8 FAILED=5
+uint8 STOP_UNKNOWN=0
+uint8 STOP_CONFIRMED=1
+uint8 status
+string error_code
+string message
+bool final_pose_valid
+geometry_msgs/PoseStamped final_pose
+float64 final_position_error
+float64 final_yaw_error
+uint8 stop_state
+builtin_interfaces/Time stopped_at
+string stop_evidence_ref
+---
+uint8 ACCEPTED=0
+uint8 CHECKING=1
+uint8 PLANNING=2
+uint8 NAVIGATING=3
+uint8 BLOCKED=4
+uint8 STOPPING=5
+builtin_interfaces/Time stamp
+uint64 sequence
+uint8 phase
+bool current_pose_valid
+geometry_msgs/PoseStamped current_pose
+bool error_valid
+float64 position_error
+float64 yaw_error
+bool blocked_valid
+bool blocked
+builtin_interfaces/Duration elapsed_time
+string message
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>navigation_interfaces</name><version>1.0.0</version>
+  <description>Navigation action contract.</description>
+  <maintainer email="feiyuwang1998@gmail.com">wangfeiyu</maintainer><license>Proprietary</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <depend>builtin_interfaces</depend><depend>geometry_msgs</depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export><build_type>ament_cmake</build_type></export>
+</package>