实现行为树执行器、任务协调和技能接口

ros2/bt_skill_interfaces/action/CheckFreeSpace.action

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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