实现行为树执行器、任务协调和技能接口

tests/test_navigation_catalog.py

@@ -0,0 +1,10 @@
+import unittest
+class CatalogTests(unittest.TestCase):
+    def test_names_cells_and_version_are_exact(self):
+        from navigation_gateway.catalog import Catalog
+        site={'registry_version':3,'locations':{'stop':{'frame_id':'map','x':1,'y':2,'z':0,'qx':0,'qy':0,'qz':0,'qw':1}},'object_locations':{'water':'stop'},'cell_locations':{'s/FRONT/1/2':'stop'}}
+        c=Catalog(site)
+        self.assertEqual(c.resolve('OBJECT','water',3)['pose']['x'],1)
+        self.assertEqual(c.resolve('CELL','',3,shelf='s',side='FRONT',column='1',tier='2')['location_id'],'stop')
+        for args in [('OBJECT','unknown',3),('OBJECT','water',2),('LOCATION','water',3)]:
+            with self.assertRaises(ValueError):c.resolve(*args)