fix(命名空间): 修复Unitree SDK类型命名空间问题并重构PoseData

- 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

@@ -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: