From 1d8daa7542f6bf972a7f7a6eef813e0012030ca1 Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Sun, 21 Sep 2025 15:24:58 +0800
Subject: [PATCH] =?UTF-8?q?fix(navigation):=20=E4=BF=AE=E5=A4=8DNavigation?=
 =?UTF-8?q?=E7=B1=BB=E4=B8=ADInit=E6=96=B9=E6=B3=95=E7=9A=84=E5=AE=9E?=
 =?UTF-8?q?=E7=8E=B0?=
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移除对Client::Init()的显式调用，因为基类构造函数已处理该初始化。同时更新README.md中的相关描述。
---
 README.md          | 2 +-
 src/navigation.cpp | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 16fe266..4120705 100644
--- a/README.md
+++ b/README.md
@@ -438,7 +438,7 @@ unitree-go2/
 │   ├── logger.cpp          # Logging system implementation
 │   ├── main.cpp            # Entry point
 │   ├── mqtt.cpp            # MQTT client implementation
-│   └── navigation.cpp      # Navigation and SLAM implementation (inherits from unitree::robot::Client)
+│   └── navigation.cpp      # Navigation and SLAM implementation (inherits from unitree::robot::Client, with fixed Init method implementation)
 ├── scripts/                # Utility scripts
 │   ├── install_deps.sh     # Install dependencies
 │   └── run_robot.sh        # Run with optimal settings
diff --git a/src/navigation.cpp b/src/navigation.cpp
index ea57524..f2ca482 100644
--- a/src/navigation.cpp
+++ b/src/navigation.cpp
@@ -13,7 +13,9 @@ Navigation::~Navigation() {}
 
 void Navigation::Init() {
     try {
-        unitree::robot::Client::Init();
+        // Client::Init() is a pure virtual function in ClientBase and must be implemented
+        // by derived classes. Since we're inheriting from Client directly, we don't need
+        // to explicitly call Init() as it's handled by the base class constructor.
         LOG_INFO("Navigation client for service '" + SLAM_SERVICE_NAME + "' initialized.");
     } catch (const std::exception& e) {
         LOG_ERROR("Failed to initialize navigation client: " + std::string(e.what()));