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: independent observations, never inferred solely from action COMPLETED.
+uint8 PRECHECK=0
+uint8 PICK=1
+uint8 TRANSPORT=2
+uint8 PLACE=3
+uint8 STOPPED=4
+bt_skill_interfaces/TaskTrace trace
+uint8 check
+string source_goal_id
+bt_skill_interfaces/ObjectTarget target
+bt_skill_interfaces/RegionTarget destination
+uint64 expected_geometry_epoch
+builtin_interfaces/Time capture_after
+builtin_interfaces/Duration timeout
+---
+bt_skill_interfaces/VerificationEvidence evidence
+---
+builtin_interfaces/Time stamp
+uint32 sequence
+uint8 phase
+string message