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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+# v1.1 navigation-owned lookup; no model-supplied pose.
+bt_skill_interfaces/TaskTrace trace
+string kind
+string reference
+string shelf_id
+string side_id
+string column_id
+string tier_id
+uint32 registry_version
+float32 position_tolerance
+float32 orientation_tolerance
+builtin_interfaces/Duration timeout
+---
+bt_skill_interfaces/ExecutionResult result
+geometry_msgs/PoseStamped final_pose
+bool pose_valid
+float32 final_position_error
+float32 final_orientation_error
+bool errors_valid
+---
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+string message