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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+# New v1: read-only admission assessment; it must never actuate the robot.
+bt_skill_interfaces/TaskTrace trace
+bt_skill_interfaces/TargetBinding target_binding
+bt_skill_interfaces/RobotState robot_state
+string[] allowed_posture_ids
+builtin_interfaces/Duration timeout
+---
+uint8 DIRECT=0
+uint8 ADJUST_POSTURE=1
+uint8 NOT_REACHABLE=2
+uint8 UNKNOWN=3
+uint8 decision
+string posture_id
+uint64 geometry_epoch
+string evidence_ref
+string error_code
+string message
+---
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+string message
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+# BT DR pp17-18; explicit optional-point/pose validity bits added in v1.
+string task_id
+string subtask_id
+string destination_ref
+string destination_description
+string object_ref
+string object_description
+builtin_interfaces/Time capture_after
+string placement_constraints_json
+builtin_interfaces/Duration timeout
+---
+uint8 SUCCEEDED=0
+uint8 FAILED=1
+uint8 NO_FREE_SPACE=2
+uint8 AMBIGUOUS=3
+uint8 status
+string destination_ref
+string placement_region_ref
+geometry_msgs/PointStamped placement_point
+bool placement_point_valid
+geometry_msgs/PoseStamped placement_pose
+bool placement_pose_valid
+float32 confidence
+bool geometry_valid
+string quality_code
+string observation_id
+builtin_interfaces/Time observed_at
+builtin_interfaces/Time valid_until
+string error_code
+string message
+string record_ref
+---
+uint8 CAPTURING=0
+uint8 PROCESSING=1
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+string message
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+bt_skill_interfaces/TaskTrace trace
+string task_description
+builtin_interfaces/Time capture_after
+uint32 sequence
+# Ordered [{stamp: UNIX ROS seconds, views: {camera_name: absolute_local_path}}]
+string window_json
+builtin_interfaces/Duration timeout
+---
+bt_skill_interfaces/DenseProgress feedback_state
+string error_code
+---
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+string message
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+# Preserved outer interface from BT DR pp18-19 / VLA DR pp11-12.
+bt_skill_interfaces/TaskTrace trace
+string skill
+string instruction
+bt_skill_interfaces/ObjectTarget target
+bt_skill_interfaces/RegionTarget destination
+builtin_interfaces/Duration timeout
+---
+bt_skill_interfaces/ExecutionResult result
+string execution_record_ref
+---
+uint8 PREPARING=0
+uint8 WAITING_OBSERVATION=1
+uint8 INFERRING=2
+uint8 EXECUTING=3
+uint8 COMPLETING=4
+uint8 STOPPING=5
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+bool progress_valid
+float32 progress
+builtin_interfaces/Duration elapsed_time
+string message
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+# New v1: posture_id is a deployment whitelist key, never arbitrary joints/poses.
+bt_skill_interfaces/TaskTrace trace
+string posture_id
+uint64 expected_geometry_epoch
+builtin_interfaces/Duration timeout
+---
+bt_skill_interfaces/ExecutionResult result
+uint64 geometry_epoch
+bt_skill_interfaces/RobotState robot_state
+---
+uint8 CHECKING=0
+uint8 MOVING=1
+uint8 SETTLING=2
+uint8 STOPPING=3
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+string message
@@ -0,0 +1,14 @@
+# New v1 coordinator -> fixed-tree executor contract. Strict-validate JSON before acceptance.
+bt_skill_interfaces/TaskTrace trace
+string approved_plan_json
+string context_json
+builtin_interfaces/Duration timeout
+---
+bt_skill_interfaces/ExecutionResult result
+uint32 completed_quantity
+string evidence_json
+---
+builtin_interfaces/Time stamp
+uint32 sequence
+string stage
+string status_json
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+# BT DR pp15-17; explicit optional-point/error-bound validity bits added in v1.
+string task_id
+string subtask_id
+string target_ref
+string target_description
+string shelf_id
+string column_id
+string tier_id
+string station_binding_ref
+builtin_interfaces/Time capture_after
+uint64 expected_geometry_epoch
+builtin_interfaces/Duration timeout
+---
+uint8 SUCCEEDED=0
+uint8 FAILED=1
+uint8 NOT_FOUND=2
+uint8 AMBIGUOUS=3
+uint8 RGBD=0
+uint8 MODEL_ESTIMATE=1
+uint8 FUSED=2
+uint8 status
+string target_ref
+string grasp_region_ref
+geometry_msgs/PointStamped target_point
+geometry_msgs/PointStamped grasp_point
+bool grasp_point_valid
+uint8 measurement_source
+bool geometry_valid
+string quality_code
+float32 position_error_bound
+bool position_error_bound_valid
+string observation_id
+builtin_interfaces/Time rgb_stamp
+builtin_interfaces/Time depth_stamp
+string calibration_id
+uint64 geometry_epoch
+string error_code
+string message
+string record_ref
+---
+uint8 CAPTURING=0
+uint8 PROCESSING=1
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+string message
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+# BT DR p15; numeric values and phase are new v1.
+string task_id
+string subtask_id
+string target_ref
+string target_description
+string source_region_ref
+string observation_station_id
+uint32 station_registry_version
+builtin_interfaces/Time capture_after
+builtin_interfaces/Duration timeout
+---
+uint8 SUCCEEDED=0
+uint8 FAILED=1
+uint8 NOT_FOUND=2
+uint8 AMBIGUOUS=3
+uint8 status
+string shelf_id
+string side_id
+string column_id
+string tier_id
+float32 confidence
+string observation_id
+builtin_interfaces/Time observed_at
+string error_code
+string message
+string record_ref
+---
+uint8 CAPTURING=0
+uint8 PROCESSING=1
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+string message
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+# Preserved outer interface from BT DR pp13-14. Canonical ROS2 type: Navigate.
+bt_skill_interfaces/TaskTrace trace
+geometry_msgs/PoseStamped target_pose
+float64 position_tolerance
+float64 orientation_tolerance
+builtin_interfaces/Duration timeout
+---
+bt_skill_interfaces/ExecutionResult result
+bool pose_valid
+geometry_msgs/PoseStamped final_pose
+bool errors_valid
+float64 final_position_error
+float64 final_orientation_error
+---
+uint8 CHECKING=0
+uint8 PLANNING=1
+uint8 NAVIGATING=2
+uint8 WAITING_OBSTACLE=3
+uint8 RECOVERING=4
+uint8 ARRIVING=5
+uint8 STOPPING=6
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+bool pose_valid
+geometry_msgs/PoseStamped current_pose
+bool errors_valid
+float64 position_error
+float64 orientation_error
+bool blocked_valid
+bool blocked
+builtin_interfaces/Duration elapsed_time
+string message
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+# v1.1 navigation-owned lookup; no model-supplied pose.
+bt_skill_interfaces/TaskTrace trace
+string kind
+string reference
+string shelf_id
+string side_id
+string column_id
+string tier_id
+uint32 registry_version
+float32 position_tolerance
+float32 orientation_tolerance
+builtin_interfaces/Duration timeout
+---
+bt_skill_interfaces/ExecutionResult result
+geometry_msgs/PoseStamped final_pose
+bool pose_valid
+float32 final_position_error
+float32 final_orientation_error
+bool errors_valid
+---
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+string message
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+# Field names/status labels from BT DR p14; numeric values and phase are new v1.
+string task_id
+uint32 task_revision
+uint64 planning_generation
+string instruction
+string known_info_json
+string context_snapshot_json
+string constraints_json
+builtin_interfaces/Duration timeout
+---
+uint8 PLAN_READY=0
+uint8 NEEDS_CLARIFICATION=1
+uint8 FAILED=2
+uint8 status
+string task_plan_json
+string error_code
+string message
+string planning_record_ref
+---
+uint8 PREPARING=0
+uint8 PLANNING=1
+uint8 VALIDATING=2
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+string message
@@ -0,0 +1,21 @@
+# New v1: independent observations, never inferred solely from action COMPLETED.
+uint8 PRECHECK=0
+uint8 PICK=1
+uint8 TRANSPORT=2
+uint8 PLACE=3
+uint8 STOPPED=4
+bt_skill_interfaces/TaskTrace trace
+uint8 check
+string source_goal_id
+bt_skill_interfaces/ObjectTarget target
+bt_skill_interfaces/RegionTarget destination
+uint64 expected_geometry_epoch
+builtin_interfaces/Time capture_after
+builtin_interfaces/Duration timeout
+---
+bt_skill_interfaces/VerificationEvidence evidence
+---
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+string message