agv_ros_ws/base_msgs/action/navigation_cmd.action

uint64 time_stamp 
string task_name
uint64 task_id


#goal definition
geometry_msgs/Pose2D[] goal
float32[] towards
float32[] limit_linear_x
float32[] limit_linear_y
float32[] limit_angular

string nav_mode # "free_nav" "path_nav" "grid_nav"
string grid_nav_mode # "step" "link"
string obstacle_rule # "stop" "bypass"

#运行参数
float32 max_linear
float32 max_linear_y
float32 max_angular

#到达精度
float32 x_tolerate
float32 y_tolerate
float32 yaw_tolerate

uint32 positive # 0: 正方向运行 1: 反方向运行

#车体尺寸
geometry_msgs/Point[] footprint

#运动模型
string drive

#障碍物检测区域
geometry_msgs/Point[] detetion_area

---
#result definition
int32 result # (>= 0 正常) (<0 异常中断)
string type # "cancel" "done" "abort"
---
#feedback
uint64 time_stamp
uint64 task_time_stamp
string task_name
int32 status
int32 progress
string info
string addition_info