[v0.8.8] [WIP]Behaviour tree interface for SSOS

[snktshrma]

This PR introduces a behavior tree architecture to the SSOS, enabling robust decision-making including CMG control, attitude management, and mission execution.

What's Added

Core Behavior Tree Infrastructure

• space_station_bt: Core behavior tree engine with plugin management
• space_station_bt_nodes: Custom behavior tree nodes for space station operations
• space_station_bt_navigator: High-level behavior tree execution and navigation system

Space Station Specific BT Nodes

• CMG Control Nodes: UnloadCMG, CheckCMGThreshold, CheckCMGUnloadingStatus
• Control Mode Management: SetControlMode for switching between CMG and thruster control
• Utility Nodes: LogMessage, WaitForStabilization for operational support
• Simulation Support: CMGSimulator for testing and validation

Mission Control Capabilities

• Autonomous CMG Unloading: Intelligent control moment gyroscope management
• Dynamic Control Switching: Seamless transition between CMG and thruster control modes
• Attitude Stabilization: Automated system stabilization monitoring
• Mission Execution: Structured mission control through behavior tree sequences

Launch and Testing

Launch Files

• cmg_unloading_test.launch.py: CMG unloading system test
• control_mode_test.launch.py: Control mode switching validation
• bt_navigator.launch.py: Main behavior tree navigation system

Test Scripts

• test_cmg_unloading_complete.sh: CMG unloading validation
• test_control_mode.sh: Control mode switching verification

Safety Additions

• Threshold Monitoring: Prevents CMG saturation
• Stabilization Checks: Ensures system stability before operations
• Error Handling: Graceful degradation and recovery
• Lifecycle Management: Proper system startup and shutdown

Documentation

• Added READMEs and Example Configurations

[yuyuqq]

@snktshrma
@siddarth09 created the ECLSS module with BT which is included in the layer of the ECLSS module, while your "space_station_bt" module is created in the top layer. And I see you intend to add all BT modules in "space_station_bt," which has conflict with what Siddarth has been working. I believe we have to create a rule where and how to create the BT.

Can we discuss?

• This BT in GNC is added to v0.8.8
• Meanwhile, @yuyuqq will release v0.8.7 any mement, and generate v0.8.8-dev. @snktshrma can work on v0.8.8-dev, while you could start looking at v0.8.7-dev.