实现行为树执行器、任务协调和技能接口

2026-09-20 12:18:52 +08:00
commit 492676344a
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+# Endpoint selection for integration with the real BT executor.
+# This is not a complete success scenario: verification defaults to UNKNOWN.
+# Fill scenarios_json explicitly for the selected route/site and evidence policy.
+/sim/robot_01/bt_mock_skills:
+  ros__parameters:
+    enabled_actions: [navigate, navigate_semantic, execute_manipulation, plan_task, locate_shelf_column, localize_target_3d, check_free_space, assess_grasp, execute_posture, verify_state, evaluate_progress]
+    enabled_topics: [robot_state, safety_state, visual_observation, dense_progress]
+    initial_holding_state: UNKNOWN
+    scenarios_json: '{}'