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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+string robot_id
+---
+bool available
+bt_skill_interfaces/RobotState robot_state
+bt_skill_interfaces/SafetyState safety_state
+string error_code
+string message
@@ -0,0 +1,11 @@
+# New v1; exact persisted task/run/goal plus fresh independently sourced evidence.
+# Caller authentication is required outside this IDL. No confirm_stopped bypass.
+bt_skill_interfaces/TaskTrace trace
+string goal_id
+bt_skill_interfaces/VerificationEvidence evidence
+string operator_id
+string reason
+---
+bool accepted
+string error_code
+string message