Add initial project structure with CMake configuration, source files, and README documentation for Unitree GO2 Custom Controller

CMakeLists.txt

@@ -0,0 +1,75 @@
+cmake_minimum_required(VERSION 3.16)
+project(unitree_go2_custom VERSION 1.0.0)
+
+# Set C++ standard
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Find required packages
+find_package(PkgConfig REQUIRED)
+find_package(Threads REQUIRED)
+
+# Find unitree_sdk2
+set(UNITREE_SDK2_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../unitree_sdk2")
+if(NOT EXISTS ${UNITREE_SDK2_PATH})
+    message(FATAL_ERROR "unitree_sdk2 not found at ${UNITREE_SDK2_PATH}")
+endif()
+
+# Add unitree_sdk2 as subdirectory
+add_subdirectory(${UNITREE_SDK2_PATH} unitree_sdk2)
+
+# Find MQTT library (Eclipse Paho)
+pkg_check_modules(PAHO_MQTT REQUIRED libpaho-mqtt3c)
+pkg_check_modules(PAHO_MQTTPP REQUIRED libpaho-mqttpp3)
+
+# Find JSON library
+find_package(nlohmann_json REQUIRED)
+
+# Include directories
+include_directories(
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${UNITREE_SDK2_PATH}/include
+)
+
+# Source files
+set(SOURCES
+    src/main.cpp
+    src/mqtt.cpp
+    src/controller.cpp
+    src/custom_robot.cpp
+    src/config.cpp
+    src/logger.cpp
+)
+
+# Create executable with simple name
+add_executable(main ${SOURCES})
+
+# Link libraries
+target_link_libraries(main
+    unitree_sdk2
+    ${PAHO_MQTT_LIBRARIES}
+    ${PAHO_MQTTPP_LIBRARIES}
+    nlohmann_json::nlohmann_json
+    Threads::Threads
+)
+
+# Compiler options
+target_compile_options(main PRIVATE
+    ${PAHO_MQTT_CFLAGS_OTHER}
+    ${PAHO_MQTTPP_CFLAGS_OTHER}
+)
+
+# Set output directory
+set_target_properties(main PROPERTIES
+    RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+)
+
+# Install target
+install(TARGETS main
+    RUNTIME DESTINATION bin
+)
+
+# Copy config files
+install(FILES config/robot_config.json
+    DESTINATION etc/${PROJECT_NAME}
+)