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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.

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This commit is contained in:
Sucan126
2025-09-08 18:38:37 +08:00
parent 90228e4ab9
commit 60a5490ec8
1 changed files with 3 additions and 7 deletions
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10
include/config.hpp
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@@ -19,11 +19,11 @@ enum class Gait : int {
constexpr std::string_view NETWORK_INTERFACE = "eth0"; constexpr std::string_view NETWORK_INTERFACE = "eth0";
// MQTT settings // 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 int MQTT_PORT = 1883;
constexpr std::string_view MQTT_CLIENT_ID = "unitree_go2_client"; constexpr std::string_view MQTT_CLIENT_ID = "unitree_go2_client";
constexpr std::string_view MQTT_USERNAME = ""; constexpr std::string_view MQTT_USERNAME = "lzwc";
constexpr std::string_view MQTT_PASSWORD = ""; constexpr std::string_view MQTT_PASSWORD = "Lzwc@4187.";
// Topic settings // Topic settings
constexpr std::string_view TOPIC_PREFIX = "unitree/go2"; constexpr std::string_view TOPIC_PREFIX = "unitree/go2";
@@ -46,7 +46,6 @@ constexpr Gait DEFAULT_GAIT = Gait::IDLE;
class CustomConfig { class CustomConfig {
public: public:
// 网络和MQTT连接
std::string network_interface; std::string network_interface;
std::string mqtt_broker; std::string mqtt_broker;
int mqtt_port; int mqtt_port;
@@ -54,12 +53,10 @@ public:
std::string mqtt_password; std::string mqtt_password;
std::string mqtt_client_id; std::string mqtt_client_id;
// MQTT话题
std::string topic_prefix; std::string topic_prefix;
std::string topic_cmd; std::string topic_cmd;
std::string topic_state; std::string topic_state;
// 机器人控制和安全
double control_frequency; double control_frequency;
double state_publish_frequency; double state_publish_frequency;
double max_linear_velocity; double max_linear_velocity;
@@ -68,7 +65,6 @@ public:
double stand_height; double stand_height;
int default_gait; int default_gait;
void loadDefaults(); void loadDefaults();
}; };