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fix: harden task recovery and DR contract handling

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wangfeiyu
2026-09-20 13:36:48 +08:00
parent 492676344a
commit f9d8feb6f0
49 changed files with 2083 additions and 165 deletions
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ros2/bt_executor/CMakeLists.txt
+1 -1
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@@ -17,7 +17,7 @@ add_library(robot_bt_core STATIC ../../core/src/core.cpp ../../core/src/workflow
target_include_directories(robot_bt_core PUBLIC ../../core/include)
add_executable(bt_executor_node src/executor_node.cpp src/ros_driver.cpp)
target_include_directories(bt_executor_node PRIVATE include)
target_link_libraries(bt_executor_node robot_bt_core BT::behaviortree_cpp nlohmann_json::nlohmann_json)
target_link_libraries(bt_executor_node robot_bt_core behaviortree_cpp::behaviortree_cpp nlohmann_json::nlohmann_json)
ament_target_dependencies(bt_executor_node ament_index_cpp rclcpp rclcpp_action bt_skill_interfaces geometry_msgs std_msgs)
target_compile_options(bt_executor_node PRIVATE -Wall -Wextra -Wpedantic)
install(TARGETS bt_executor_node DESTINATION lib/${PROJECT_NAME})