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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+# 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