refactor(custom_robot): Reorganize trajectory control and remove example trajectory generation

- Moved the trajControl method to the private section of the CustomRobot class for better encapsulation.
- Introduced traj_dt_ and traj_count_ member variables to manage trajectory timing and state.
- Removed the createExampleTrajectory function to streamline the code and eliminate unused functionality in trajectory handling.

include/custom_robot.hpp

@@ -47,11 +47,11 @@ public:
     bool processRechargeCmd(const std::string& cmd, const nlohmann::json& message);
     void printServiceList(const std::vector<unitree::robot::go2::ServiceState>& serviceList, int filterStatus = -1);
 
-    void trajControl();
     bool startTraj();
     void stopTraj();
 
 private:
+    void trajControl();
     std::string generateRandomClientId() const;
     std::unique_ptr<Controller> controller_;
     // std::unique_ptr<LowController> low_controller_;
@@ -65,6 +65,8 @@ private:
     std::atomic<bool> initialized_;
     unitree::common::ThreadPtr traj_th_;
     std::atomic<bool> traj_running_;
+    float traj_dt_;
+    float traj_count_;
 };
 
 } // namespace custom