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 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