From 60a5490ec8a6d5687d2cd19a2ec7cdd4771cfffe Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Mon, 8 Sep 2025 18:38:37 +0800
Subject: [PATCH] Update MQTT configuration in config.hpp. Changed broker
 address to a specific IP and added username and password for authentication.
 Removed commented-out sections for clarity.

---
 include/config.hpp | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/include/config.hpp b/include/config.hpp
index 3e52b79..1def4a7 100644
--- a/include/config.hpp
+++ b/include/config.hpp
@@ -19,11 +19,11 @@ enum class Gait : int {
 constexpr std::string_view NETWORK_INTERFACE = "eth0";
 
 // MQTT settings
-constexpr std::string_view MQTT_BROKER = "localhost";
+constexpr std::string_view MQTT_BROKER = "192.168.2.236";
 constexpr int MQTT_PORT = 1883;
 constexpr std::string_view MQTT_CLIENT_ID = "unitree_go2_client";
-constexpr std::string_view MQTT_USERNAME = "";
-constexpr std::string_view MQTT_PASSWORD = "";
+constexpr std::string_view MQTT_USERNAME = "lzwc";
+constexpr std::string_view MQTT_PASSWORD = "Lzwc@4187.";
 
 // Topic settings
 constexpr std::string_view TOPIC_PREFIX = "unitree/go2";
@@ -46,7 +46,6 @@ constexpr Gait DEFAULT_GAIT = Gait::IDLE;
 
 class CustomConfig {
 public:
-    // 网络和MQTT连接
     std::string network_interface;
     std::string mqtt_broker;
     int mqtt_port;
@@ -54,12 +53,10 @@ public:
     std::string mqtt_password;
     std::string mqtt_client_id;
     
-    // MQTT话题
     std::string topic_prefix;
     std::string topic_cmd;
     std::string topic_state;
     
-    // 机器人控制和安全
     double control_frequency;
     double state_publish_frequency;
     double max_linear_velocity;
@@ -68,7 +65,6 @@ public:
     double stand_height;
     int default_gait;
     
-    
     void loadDefaults();
 
 };