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

src/main.cpp

@@ -0,0 +1,54 @@
+#include <iostream>
+#include <memory>
+#include <signal.h>
+#include "custom_robot.hpp"
+#include "logger.hpp"
+#include "config.hpp"
+
+using namespace custom;
+
+std::unique_ptr<CustomRobot> g_robot;
+
+void signalHandler(int signal) {
+    LOG_INFO("Received signal " + std::to_string(signal) + ", shutting down...");
+    if (g_robot) {
+        g_robot->stop();
+    }
+    exit(0);
+}
+
+int main(int argc, char** argv) {
+    // Initialize logger with default settings
+    Logger::getInstance().setLevel(LogLevel::INFO);
+    
+    LOG_INFO("Starting Unitree GO2 System v0.0.1");
+    
+    // Setup signal handlers
+    signal(SIGINT, signalHandler);
+    signal(SIGTERM, signalHandler);
+    
+    try {
+        // Create robot with compile-time defaults (no config file needed)
+        g_robot = std::make_unique<CustomRobot>("");
+        
+        if (!g_robot->initialize()) {
+            LOG_ERROR("Failed to initialize robot");
+            return 1;
+        }
+        
+        LOG_INFO("Robot initialized successfully");
+        LOG_INFO("Press Ctrl+C to stop the robot");
+        
+        // Run the robot
+        g_robot->run();
+        
+    } catch (const std::exception& e) {
+        LOG_ERROR("Exception: " + std::string(e.what()));
+        return 1;
+    } catch (...) {
+        LOG_ERROR("Unknown exception occurred");
+        return 1;
+    }
+    
+    return 0;
+}