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
143 changed files with 13010 additions and 0 deletions
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+{
+  "mode": "simulation",
+  "map_id": "sim-map",
+  "simulation_complete_sec": 0.5,
+  "poll_interval_sec": 0.05,
+  "safety": {
+    "odom_max_age_sec": 0.2,
+    "stationary_window_sec": 0.3,
+    "linear_stopped_mps": 0.005,
+    "angular_stopped_radps": 0.005,
+    "pose_max_age_sec": 0.2,
+    "readiness_max_age_sec": 0.5,
+    "stop_wait_timeout_sec": 1.0
+  }
+}