# Navigation contract: trace and stop evidence retained across all attempts.
# Enum values are explicit; both peers must build this same interface package.
bt_skill_interfaces/TaskTrace trace
geometry_msgs/PoseStamped target_pose
float64 position_tolerance
float64 yaw_tolerance
builtin_interfaces/Duration timeout
---
bt_skill_interfaces/NavigationResult result
bool final_pose_valid
geometry_msgs/PoseStamped final_pose
float64 final_position_error
float64 final_yaw_error
---
uint8 ACCEPTED=0
uint8 CHECKING=1
uint8 NAVIGATING=2
uint8 BLOCKED=3
uint8 STOPPING=4
builtin_interfaces/Time stamp
uint32 sequence
uint8 phase
bool current_pose_valid
geometry_msgs/PoseStamped current_pose
bool error_valid
float64 position_error
float64 yaw_error
bool blocked
builtin_interfaces/Duration elapsed_time
string message