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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+cmake_minimum_required(VERSION 3.8)
+project(bt_skill_interfaces)
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/TaskTrace.msg"
+  "msg/ObjectTarget.msg"
+  "msg/RegionTarget.msg"
+  "msg/ExecutionResult.msg"
+  "msg/ObservationContext.msg"
+  "msg/RobotState.msg"
+  "msg/SafetyState.msg"
+  "msg/VerificationEvidence.msg"
+  "msg/Station.msg"
+  "msg/TargetBinding.msg"
+  "msg/PlacementBinding.msg"
+  "action/Navigate.action"
+  "action/NavigateSemantic.action"
+  "action/EvaluateProgress.action"
+  "msg/VisualObservation.msg"
+  "msg/DenseProgress.msg"
+  "action/ExecuteManipulation.action"
+  "action/PlanTask.action"
+  "action/LocateShelfColumn.action"
+  "action/LocalizeTarget3D.action"
+  "action/CheckFreeSpace.action"
+  "action/AssessGrasp.action"
+  "action/ExecutePosture.action"
+  "action/VerifyState.action"
+  "action/ExecuteTask.action"
+  "srv/GetRobotState.srv"
+  "srv/ReconcileGoal.srv"
+  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
+)
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()