support topic configuration

src/brain/include/brain/skill_manager.hpp

@@ -447,6 +447,7 @@ template<>
 struct SkillActionTrait<ArmSpaceControl>
 {
   static constexpr const char * skill_name = "ArmSpaceControl";
+  static constexpr const char * default_topic = "";
   static bool success(const ArmSpaceControl::Result & r) {return r.success;}
   static std::string message(const ArmSpaceControl::Result & r) {return r.message;}
 };
@@ -454,6 +455,7 @@ template<>
 struct SkillActionTrait<Arm>
 {
   static constexpr const char * skill_name = "Arm";
+  static constexpr const char * default_topic = "ArmAction";
   static bool success(const Arm::Result & r) {return (r.result == 0)? true:false;}
   static std::string message(const Arm::Result & r) {(void)r;return "completed";}
 };
@@ -461,6 +463,7 @@ template<>
 struct SkillActionTrait<HandControl>
 {
   static constexpr const char * skill_name = "HandControl";
+  static constexpr const char * default_topic = "";
   static bool success(const HandControl::Result & r) {return r.success;}
   static std::string message(const HandControl::Result & r) {return r.message;}
 };
@@ -468,6 +471,7 @@ template<>
 struct SkillActionTrait<CameraTakePhoto>
 {
   static constexpr const char * skill_name = "CameraTakePhoto";
+  static constexpr const char * default_topic = "";
   static bool success(const CameraTakePhoto::Result & r) {return r.success;}
   static std::string message(const CameraTakePhoto::Result & r) {return r.message;}
 };
@@ -475,6 +479,7 @@ template<>
 struct SkillActionTrait<WaistControl>
 {
   static constexpr const char * skill_name = "WaistControl";
+  static constexpr const char * default_topic = "";
   static bool success(const WaistControl::Result & r) {return r.success;}
   static std::string message(const WaistControl::Result & r) {return r.message;}
 };
@@ -482,6 +487,7 @@ template<>
 struct SkillActionTrait<LegControl>
 {
   static constexpr const char * skill_name = "LegControl";
+  static constexpr const char * default_topic = "";
   static bool success(const LegControl::Result & r) {return r.success;}
   static std::string message(const LegControl::Result & r) {return r.message;}
 };
@@ -489,6 +495,7 @@ template<>
 struct SkillActionTrait<VisionGraspObject>
 {
   static constexpr const char * skill_name = "VisionGraspObject";
+  static constexpr const char * default_topic = "";
   static bool success(const VisionGraspObject::Result & r) {return r.success;}
   static std::string message(const VisionGraspObject::Result & r) {return r.message;}
 };
@@ -496,6 +503,7 @@ template<>
 struct SkillActionTrait<SlamMode>
 {
   static constexpr const char * skill_name = "SlamMode";
+  static constexpr const char * default_topic = "";
   static bool success(const SlamMode::Result & r) {return r.success;}
   static std::string message(const SlamMode::Result & r) {return r.message;}
 };
@@ -503,6 +511,7 @@ template<>
 struct SkillActionTrait<nav2_msgs::action::NavigateToPose>
 {
   static constexpr const char * skill_name = "NavigateToPose";
+  static constexpr const char * default_topic = "";
   static bool success(const nav2_msgs::action::NavigateToPose::Result & r) {(void)r;return true;}
   static std::string message(const nav2_msgs::action::NavigateToPose::Result & r) {(void)r;return "completed";}
 };
@@ -512,16 +521,19 @@ template<>
 struct SkillServiceTrait<MapSave>
 {
   static constexpr const char * skill_name = "MapSave";
+  static constexpr const char * default_topic = "";
 };
 template<>
 struct SkillServiceTrait<MapLoad>
 {
   static constexpr const char * skill_name = "MapLoad";
+  static constexpr const char * default_topic = "";
 };
 template<>
 struct SkillServiceTrait<VisionObjectRecognition>
 {
   static constexpr const char * skill_name = "VisionObjectRecognition";
+  static constexpr const char * default_topic = "";
 };
 
 

src/brain/src/skill_manager.cpp

@@ -202,6 +202,41 @@ static const std::unordered_map<std::string, ServiceRegistrar> & get_service_reg
   return kMap;
 }
 
+// Build maps of default topics for actions and services (name -> default topic string).
+template<typename TupleT, std::size_t... I>
+static std::unordered_map<std::string, std::string> build_action_default_topics(std::index_sequence<I...>) {
+  std::unordered_map<std::string, std::string> m;
+  (void)std::array<int, sizeof...(I)>{{(m.emplace(
+    std::string(SkillActionTrait<std::tuple_element_t<I, TupleT>>::skill_name),
+    std::string(SkillActionTrait<std::tuple_element_t<I, TupleT>>::default_topic)), 0)...}};
+  return m;
+}
+
+static const std::unordered_map<std::string, std::string> & get_action_default_topics()
+{
+  using TupleT = SkillActionTypes;
+  constexpr std::size_t N = std::tuple_size<TupleT>::value;
+  static const std::unordered_map<std::string, std::string> kMap = build_action_default_topics<TupleT>(std::make_index_sequence<N>{});
+  return kMap;
+}
+
+template<typename TupleT, std::size_t... I>
+static std::unordered_map<std::string, std::string> build_service_default_topics(std::index_sequence<I...>) {
+  std::unordered_map<std::string, std::string> m;
+  (void)std::array<int, sizeof...(I)>{{(m.emplace(
+    std::string(SkillServiceTrait<std::tuple_element_t<I, TupleT>>::skill_name),
+    std::string(SkillServiceTrait<std::tuple_element_t<I, TupleT>>::default_topic)), 0)...}};
+  return m;
+}
+
+static const std::unordered_map<std::string, std::string> & get_service_default_topics()
+{
+  using TupleT = SkillServiceTypes;
+  constexpr std::size_t N = std::tuple_size<TupleT>::value;
+  static const std::unordered_map<std::string, std::string> kMap = build_service_default_topics<TupleT>(std::make_index_sequence<N>{});
+  return kMap;
+}
+
 // Utility: join map keys for diagnostics
 template<typename T>
 static std::string join_keys(const std::unordered_map<std::string, T> & m)
@@ -265,19 +300,30 @@ void SkillManager::register_interfaces_(const SkillSpec & s)
     const std::string base_snake = to_snake_case(parsed->base);
 
     auto resolve_topic_name = [&](const std::string & kind_suffix) {
-      // Arm 动作默认话题使用 "ArmAction"，其余沿用 prefix + base_snake
-      const bool is_arm_action = (parsed->base == "Arm" && kind_suffix == "action");
-      const std::string default_topic = is_arm_action ? std::string("ArmAction") : join_topic(prefix_value, base_snake);
+      // Compute the prior default (prefix + base_snake), but allow per-trait default topic when provided.
+      const std::string prefix_default = join_topic(prefix_value, base_snake);
+      const auto & action_defaults = get_action_default_topics();
+      const auto & service_defaults = get_service_default_topics();
+      std::string trait_default;
+      if (kind_suffix == "action") {
+        auto it = action_defaults.find(parsed->base);
+        if (it != action_defaults.end()) { trait_default = it->second; }
+      } else {
+        auto it = service_defaults.find(parsed->base);
+        if (it != service_defaults.end()) { trait_default = it->second; }
+      }
+      const bool has_trait_default = !trait_default.empty();
+      const std::string computed_default = has_trait_default ? trait_default : prefix_default;
       const std::string param_name = base_snake + "." + kind_suffix + "_name";
       std::string topic_override;
       if (node_->get_parameter(param_name, topic_override)) {
-        if (topic_override.empty()) {
-          topic_override = default_topic;
-        }
+        // If user explicitly sets an empty parameter, fall back to computed_default.
+        if (topic_override.empty()) { topic_override = computed_default; }
         return topic_override;
       }
-      node_->declare_parameter<std::string>(param_name, default_topic);
-      return default_topic;
+      // Declare with computed default so it appears in parameter list; keep existing semantics.
+      node_->declare_parameter<std::string>(param_name, computed_default);
+      return computed_default;
     };
 
     if (parsed->kind == "action") {