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
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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