bt_executor:
  ros__parameters:
    execution_enabled: false
    robot_id: ""
    allowed_robots: []
    site_config_file: ""
    journal_directory: ""
    minimum_confidence: 0.9
    observation_lifetime_ms: 2000
    readiness_timeout_ms: 2000
    acceptance_timeout_ms: 2000
    feedback_timeout_ms: 5000
    skill_timeout_ms: 120000
    cancel_stop_timeout_ms: 5000
    max_reobservations: 2
    max_posture_adjustments: 1
    navigate_action: skills/navigate
    execute_manipulation_action: skills/execute_manipulation
    locate_shelf_column_action: skills/locate_shelf_column
    localize_target_3d_action: skills/localize_target_3d
    assess_grasp_action: skills/assess_grasp
    execute_posture_action: skills/execute_posture
    verify_state_action: skills/verify_state
    check_free_space_action: skills/check_free_space
    execute_task_action: tasks/execute