Implement MQTT functionality in CustomRobot class. Added methods for MQTT initialization, message handling, and connection management. Updated configuration to remove multimedia settings and streamline MQTT-related parameters. Enhanced logging for MQTT operations and ensured proper cleanup during shutdown.

include/custom_robot.hpp

@@ -3,6 +3,7 @@
 #include "controller.hpp"
 #include "config.hpp"
 #include "logger.hpp"
+#include "mqtt.hpp"
 
 #include <memory>
 #include <atomic>
@@ -22,14 +23,21 @@ public:
     
     Controller* getController() const { return controller_.get(); }
     
-    // Robot state methods
     bool GetServiceList(std::vector<unitree::robot::go2::ServiceState>& serviceList);
     bool SwitchService(const std::string& serviceName, bool enable);
     bool SetReportFreq(int32_t interval, int32_t duration);
+    
+    // MQTT related methods
+    bool initializeMqtt();
+    void onMqttMessage(const std::string& topic, const std::string& payload);
+    void onMqttConnection(bool connected);
+    void publishStatus();
 
 private:
+    std::string generateRandomClientId() const;
     std::unique_ptr<Controller> controller_;
     std::unique_ptr<unitree::robot::go2::RobotStateClient> rsc_;
+    std::unique_ptr<MqttClient> mqttClient_;
     
     CustomConfig config_;  
     std::atomic<bool> running_;