实现行为树执行器、任务协调和技能接口

ros2/bt_executor/tools/build_humble.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -euo pipefail
+if [[ ! -f /opt/ros/humble/setup.bash ]]; then
+  echo 'NOT RUN: ROS2 Humble is not installed; no ROS compilation claim.' >&2
+  exit 2
+fi
+source /opt/ros/humble/setup.bash
+command -v colcon >/dev/null || { echo 'colcon is required' >&2; exit 2; }
+bt_repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)"
+cd "$bt_repo_root"
+# Install/build upstream BehaviorTree.CPP 4.10.0 separately and source its prefix.
+# EXACT REQUIRED intentionally rejects an incompatible system BT.CPP package.
+colcon build --base-paths ros2 --packages-up-to bt_executor robobrain_services bt_mock_servers --event-handlers console_direct+
+colcon test --packages-select bt_skill_interfaces bt_executor --event-handlers console_direct+
+colcon test-result --verbose