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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+bt_executor:
+  ros__parameters:
+    execution_enabled: false
+    robot_id: ""
+    allowed_robots: []
+    site_config_file: ""
+    journal_directory: ""
+    minimum_confidence: 0.9
+    observation_lifetime_ms: 2000
+    readiness_timeout_ms: 2000
+    acceptance_timeout_ms: 2000
+    feedback_timeout_ms: 5000
+    skill_timeout_ms: 120000
+    cancel_stop_timeout_ms: 5000
+    max_reobservations: 2
+    max_posture_adjustments: 1
+    navigate_action: skills/navigate
+    execute_manipulation_action: skills/execute_manipulation
+    locate_shelf_column_action: skills/locate_shelf_column
+    localize_target_3d_action: skills/localize_target_3d
+    assess_grasp_action: skills/assess_grasp
+    execute_posture_action: skills/execute_posture
+    verify_state_action: skills/verify_state
+    check_free_space_action: skills/check_free_space
+    execute_task_action: tasks/execute