fix: harden task recovery and DR contract handling

2026-09-20 13:36:48 +08:00
parent 492676344a
commit f9d8feb6f0
49 changed files with 2083 additions and 165 deletions
@@ -33,6 +33,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
  "action/ExecuteTask.action"
  "srv/GetRobotState.srv"
  "srv/ReconcileGoal.srv"
+  "srv/ReconcileTask.srv"
  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
 )
 ament_export_dependencies(rosidl_default_runtime)
@@ -1,4 +1,4 @@
-<?xml version="1.2.0"?>
+<?xml version="1.0"?>
 <package format="3">
  <name>bt_skill_interfaces</name>
  <version>1.2.0</version>
@@ -0,0 +1,11 @@
+# Task recovery requires independent physical verification by the executor.
+bt_skill_interfaces/TaskTrace trace
+string operator_id
+string authorization
+string evidence_ref
+string resolution
+---
+bool accepted
+string error_code
+string message
+string state_json