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
143 changed files with 13010 additions and 0 deletions
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+# Advisory only. Cannot constitute VerifyState or delivery proof.
+bt_skill_interfaces/TaskTrace trace
+builtin_interfaces/Time observed_at
+uint32 sequence
+string state
+float32 progress
+bool progress_valid
+string hop_json
+string record_ref
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+# New v1 numbers and layout. COMPLETED is execution completion, not business success.
+uint8 COMPLETED=0
+uint8 FAILED=1
+uint8 CANCELED=2
+uint8 TIMED_OUT=3
+uint8 REJECTED=4
+uint8 UNKNOWN=0
+uint8 CONFIRMED=1
+uint8 status
+string error_code
+string message
+uint8 stop_state
+builtin_interfaces/Time stopped_at
+string stop_evidence_ref
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+string object_ref
+string description
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+uint32 schema_version
+bt_skill_interfaces/TaskTrace trace
+string source_goal_id
+uint64 geometry_epoch
+builtin_interfaces/Time observed_at
+builtin_interfaces/Time valid_until
+string writer
+string observation_id
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+bt_skill_interfaces/ObservationContext context
+bt_skill_interfaces/RegionTarget destination
+string placement_region_ref
+geometry_msgs/PointStamped placement_point
+bool placement_point_valid
+geometry_msgs/PoseStamped placement_pose
+bool placement_pose_valid
+bool geometry_valid
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+string region_ref
+string description
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+uint8 EMPTY=0
+uint8 HOLDING_TARGET=1
+uint8 HOLDING_OTHER=2
+uint8 HOLDING_UNKNOWN=3
+string robot_id
+builtin_interfaces/Time stamp
+builtin_interfaces/Time valid_until
+uint64 geometry_epoch
+bool base_stopped_valid
+bool base_stopped
+bool posture_settled_valid
+bool posture_settled
+uint8 holding_state
+string held_target_ref
+string posture_id
+geometry_msgs/PoseStamped pose
+bool pose_valid
+string evidence_ref
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+string robot_id
+builtin_interfaces/Time stamp
+builtin_interfaces/Time valid_until
+bool safety_valid
+bool motion_allowed
+bool emergency_stop_active
+bool protective_stop_active
+string error_code
+string evidence_ref
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+uint32 registry_version
+string station_id
+string region_ref
+string shelf_id
+string side_id
+string column_id
+string station_type
+geometry_msgs/PoseStamped pose
+float64 position_tolerance
+float64 orientation_tolerance
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+bt_skill_interfaces/ObservationContext context
+bt_skill_interfaces/ObjectTarget target
+string grasp_region_ref
+geometry_msgs/PointStamped target_point
+geometry_msgs/PointStamped grasp_point
+bool grasp_point_valid
+bool geometry_valid
+string station_binding_ref
+string shelf_id
+string side_id
+string column_id
+string tier_id
+string calibration_id
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+# New v1 shared layout; business identity does not replace the ROS Goal UUID.
+string task_id
+string subtask_id
+uint32 attempt
+uint32 task_revision
+uint32 plan_version
+string run_id
+uint64 execution_generation
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+uint8 PASSED=0
+uint8 FAILED=1
+uint8 UNKNOWN=2
+uint8 EMPTY=0
+uint8 HOLDING_TARGET=1
+uint8 HOLDING_OTHER=2
+uint8 HOLDING_UNKNOWN=3
+bt_skill_interfaces/ObservationContext context
+uint8 status
+string target_ref
+string destination_ref
+uint8 holding_state
+bool target_match_valid
+bool target_match
+bool grasp_stable_valid
+bool grasp_stable
+bool hand_empty_valid
+bool hand_empty
+bool target_in_destination_valid
+bool target_in_destination
+bool stopped_valid
+bool stopped
+string source
+string evidence_ref
+string error_code
+string message
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+# Local immutable media file; absolute path restricted to configured media_root.
+std_msgs/Header header
+string observation_id
+string image_path
+string station_id
+uint32 registry_version
+string shelf_id
+string calibration_id
+uint64 geometry_epoch