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 pp13-14. Canonical ROS2 type: Navigate.
+bt_skill_interfaces/TaskTrace trace
+geometry_msgs/PoseStamped target_pose
+float64 position_tolerance
+float64 orientation_tolerance
+builtin_interfaces/Duration timeout
+---
+bt_skill_interfaces/ExecutionResult result
+bool pose_valid
+geometry_msgs/PoseStamped final_pose
+bool errors_valid
+float64 final_position_error
+float64 final_orientation_error
+---
+uint8 CHECKING=0
+uint8 PLANNING=1
+uint8 NAVIGATING=2
+uint8 WAITING_OBSTACLE=3
+uint8 RECOVERING=4
+uint8 ARRIVING=5
+uint8 STOPPING=6
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+bool pose_valid
+geometry_msgs/PoseStamped current_pose
+bool errors_valid
+float64 position_error
+float64 orientation_error
+bool blocked_valid
+bool blocked
+builtin_interfaces/Duration elapsed_time
+string message