实现行为树执行器、任务协调和技能接口

ros2/bt_skill_interfaces/action/LocalizeTarget3D.action

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+# BT DR pp15-17; explicit optional-point/error-bound validity bits added in v1.
+string task_id
+string subtask_id
+string target_ref
+string target_description
+string shelf_id
+string column_id
+string tier_id
+string station_binding_ref
+builtin_interfaces/Time capture_after
+uint64 expected_geometry_epoch
+builtin_interfaces/Duration timeout
+---
+uint8 SUCCEEDED=0
+uint8 FAILED=1
+uint8 NOT_FOUND=2
+uint8 AMBIGUOUS=3
+uint8 RGBD=0
+uint8 MODEL_ESTIMATE=1
+uint8 FUSED=2
+uint8 status
+string target_ref
+string grasp_region_ref
+geometry_msgs/PointStamped target_point
+geometry_msgs/PointStamped grasp_point
+bool grasp_point_valid
+uint8 measurement_source
+bool geometry_valid
+string quality_code
+float32 position_error_bound
+bool position_error_bound_valid
+string observation_id
+builtin_interfaces/Time rgb_stamp
+builtin_interfaces/Time depth_stamp
+string calibration_id
+uint64 geometry_epoch
+string error_code
+string message
+string record_ref
+---
+uint8 CAPTURING=0
+uint8 PROCESSING=1
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+string message