# Preserved outer interface from BT DR pp13-14. Canonical ROS2 type: Navigate.
bt_skill_interfaces/TaskTrace trace
geometry_msgs/PoseStamped target_pose
float64 position_tolerance
float64 orientation_tolerance
builtin_interfaces/Duration timeout
---
bt_skill_interfaces/ExecutionResult result
bool pose_valid
geometry_msgs/PoseStamped final_pose
bool errors_valid
float64 final_position_error
float64 final_orientation_error
---
uint8 CHECKING=0
uint8 PLANNING=1
uint8 NAVIGATING=2
uint8 WAITING_OBSTACLE=3
uint8 RECOVERING=4
uint8 ARRIVING=5
uint8 STOPPING=6
builtin_interfaces/Time stamp
uint32 sequence
uint8 phase
bool pose_valid
geometry_msgs/PoseStamped current_pose
bool errors_valid
float64 position_error
float64 orientation_error
bool blocked_valid
bool blocked
builtin_interfaces/Duration elapsed_time
string message