From 6b9ad807576311d8de435ad4b24fa3fc0a67724a Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Mon, 22 Sep 2025 14:46:18 +0800
Subject: [PATCH] =?UTF-8?q?fix(=E5=91=BD=E5=90=8D=E7=A9=BA=E9=97=B4):=20?=
 =?UTF-8?q?=E4=BF=AE=E5=A4=8DUnitree=20SDK=E7=B1=BB=E5=9E=8B=E5=91=BD?=
 =?UTF-8?q?=E5=90=8D=E7=A9=BA=E9=97=B4=E9=97=AE=E9=A2=98=E5=B9=B6=E9=87=8D?=
 =?UTF-8?q?=E6=9E=84PoseData?=
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- 将ChannelSubscriberPtr改为unitree::robot::ChannelSubscriberPtr
- 重构PoseData结构为poseDate类，增加JSON序列化功能
- 更新相关代码以使用新的poseDate类
---
 README.md              |  6 +++++
 include/navigation.hpp | 52 ++++++++++++++++++++++++++++++------------
 src/navigation.cpp     |  4 ++--
 3 files changed, 45 insertions(+), 17 deletions(-)

diff --git a/README.md b/README.md
index da02954..e9c52a2 100644
--- a/README.md
+++ b/README.md
@@ -390,6 +390,12 @@ When the service list is retrieved (either through the `list` command or interna
 2. Update JSON parsing and validation
 3. Add corresponding response handling
 
+### Fixing Namespace Issues
+
+When working with Unitree SDK types, ensure proper namespace qualification:
+- Use `unitree::robot::ChannelSubscriberPtr` instead of just `ChannelSubscriberPtr`
+- Check all SDK type references for correct namespace usage
+
 ### Custom Configurations
 
 The robot's configuration is defined at compile time in `include/config.hpp`. To customize the configuration:
diff --git a/include/navigation.hpp b/include/navigation.hpp
index a25a1c1..420ff83 100644
--- a/include/navigation.hpp
+++ b/include/navigation.hpp
@@ -26,6 +26,39 @@ const int32_t ROBOT_API_ID_RESUME_NAV = 1202;
 
 namespace custom {
 
+class poseDate
+{
+public:
+    float x = 0.0f;
+    float y = 0.0f;
+    float z = 0.0f;
+    float q_x = 0.0f;
+    float q_y = 0.0f;
+    float q_z = 0.0f;
+    float q_w = 1.0f;
+    int mode = 1;
+    float speed = 0.8f;
+    std::string toJsonStr() const
+    {
+        nlohmann::json j;
+        j["data"]["targetPose"]["x"] = x;
+        j["data"]["targetPose"]["y"] = y;
+        j["data"]["targetPose"]["z"] = z;
+        j["data"]["targetPose"]["q_x"] = q_x;
+        j["data"]["targetPose"]["q_y"] = q_y;
+        j["data"]["targetPose"]["q_z"] = q_z;
+        j["data"]["targetPose"]["q_w"] = q_w;
+        j["data"]["mode"] = mode;
+        j["data"]["speed"] = speed;
+        return j.dump(4);
+    }
+    void printInfo() const
+    {
+        std::cout << "x:" << x << " y:" << y << " z:" << z << " q_x:"
+                  << q_x << " q_y:" << q_y << " q_z:" << q_z << " q_w:" << q_w << std::endl;
+    }
+};
+
 class Navigation : public unitree::robot::Client {
 public:
     Navigation();
@@ -41,7 +74,7 @@ public:
     bool resumeNavigation();
     bool closeSlam();
 
-    PoseData getCurrentPose() const { return currentPose; }
+    poseDate getCurrentPose() const { return currentPose; }
 
     bool hasArrived() const { return is_arrived; }
 
@@ -50,21 +83,10 @@ private:
     void slamInfoHandler(const void *message);
     void slamKeyInfoHandler(const void *message);
 
-    ChannelSubscriberPtr subSlamInfo;
-    ChannelSubscriberPtr subSlamKeyInfo;
+    unitree::robot::ChannelSubscriberPtr subSlamInfo;
+    unitree::robot::ChannelSubscriberPtr subSlamKeyInfo;
 
-    // Structure to hold pose data
-    struct PoseData {
-        double x = 0.0;
-        double y = 0.0;
-        double z = 0.0;
-        double q_x = 0.0;
-        double q_y = 0.0;
-        double q_z = 0.0;
-        double q_w = 0.0;
-    };
-
-    PoseData currentPose;
+    poseDate currentPose;
     bool is_arrived = false;
 };
 
diff --git a/src/navigation.cpp b/src/navigation.cpp
index 8ff1e1b..179f615 100644
--- a/src/navigation.cpp
+++ b/src/navigation.cpp
@@ -4,12 +4,12 @@
 namespace custom {
 
 Navigation::Navigation() : unitree::robot::Client(SLAM_SERVICE_NAME) {
-    subSlamInfo = ChannelSubscriberPtr(
+    subSlamInfo = unitree::robot::ChannelSubscriberPtr(
         new unitree::robot::ChannelSubscriber<std_msgs::msg::dds_::String_>(SlamInfoTopic));
     subSlamInfo->InitChannel(
         std::bind(&Navigation::slamInfoHandler, this, std::placeholders::_1), 1);
     
-    subSlamKeyInfo = ChannelSubscriberPtr(
+    subSlamKeyInfo = unitree::robot::ChannelSubscriberPtr(
         new unitree::robot::ChannelSubscriber<std_msgs::msg::dds_::String_>(SlamKeyInfoTopic));
     subSlamKeyInfo->InitChannel(
         std::bind(&Navigation::slamKeyInfoHandler, this, std::placeholders::_1), 1);