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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+# Field names/status labels from BT DR p14; numeric values and phase are new v1.
+string task_id
+uint32 task_revision
+uint64 planning_generation
+string instruction
+string known_info_json
+string context_snapshot_json
+string constraints_json
+builtin_interfaces/Duration timeout
+---
+uint8 PLAN_READY=0
+uint8 NEEDS_CLARIFICATION=1
+uint8 FAILED=2
+uint8 status
+string task_plan_json
+string error_code
+string message
+string planning_record_ref
+---
+uint8 PREPARING=0
+uint8 PLANNING=1
+uint8 VALIDATING=2
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+string message