Refactor configuration management by introducing CustomConfig class. Updated config.hpp to streamline settings and removed legacy configuration presets. Adjusted controller and custom_robot classes to utilize the new configuration structure. Enhanced error handling and logging during initialization processes.

include/custom_robot.hpp

@@ -6,6 +6,8 @@
 
 #include <memory>
 #include <atomic>
+#include <string>
+#include <vector>
 #include <unitree/robot/go2/robot_state/robot_state_client.hpp>
 
 namespace custom {
@@ -18,6 +20,8 @@ public:
     bool initialize();
     bool start();
     
+    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);
@@ -25,8 +29,9 @@ public:
 
 private:
     std::unique_ptr<Controller> controller_;
-    std::unique_ptr<unitree::robot::go2::RobotStateClient> stateClient_;
+    std::unique_ptr<unitree::robot::go2::RobotStateClient> rsc_;
     
+    CustomConfig config_;  
     std::atomic<bool> running_;
     std::atomic<bool> initialized_;
 };