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: 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