From 9585ae3df64f9f384af5cf9d718c0eed4ca65d6b Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Sun, 21 Sep 2025 14:50:13 +0800
Subject: [PATCH] =?UTF-8?q?refactor(config):=20=E7=A7=BB=E9=99=A4=E6=9C=AA?=
 =?UTF-8?q?=E4=BD=BF=E7=94=A8=E7=9A=84MQTT=E4=B8=BB=E9=A2=98=E5=92=8C?=
 =?UTF-8?q?=E5=AE=89=E5=85=A8=E8=AE=BE=E7=BD=AE?=
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清理不再使用的MQTT主题配置(心跳、响应、错误)和命令超时设置，简化配置结构
---
 include/config.hpp | 8 ++------
 src/config.cpp     | 4 ----
 2 files changed, 2 insertions(+), 10 deletions(-)

diff --git a/include/config.hpp b/include/config.hpp
index 51953b2..ec00f22 100644
--- a/include/config.hpp
+++ b/include/config.hpp
@@ -26,12 +26,8 @@ constexpr std::string_view MQTT_USERNAME = "lzwc";
 constexpr std::string_view MQTT_PASSWORD = "Lzwc@4187.";
 
 // MQTT Topics
-    constexpr const char* TOPIC_PREFIX = "unitree/go2";
-    constexpr const char* TOPIC_CMD = "cmd";
-    constexpr const char* TOPIC_STATE = "state";
-    constexpr const char* TOPIC_HEARTBEAT = "heartbeat";
-    constexpr const char* TOPIC_RESPONSE = "response";
-    constexpr const char* TOPIC_ERROR = "error";
+constexpr const char* TOPIC_PREFIX = "unitree/go2";
+constexpr const char* TOPIC_CMD = "cmd";
 
 // Safety settings
 constexpr double MAX_LINEAR_VELOCITY = 1.5;       // m/s
diff --git a/src/config.cpp b/src/config.cpp
index 1259304..1962707 100644
--- a/src/config.cpp
+++ b/src/config.cpp
@@ -14,15 +14,11 @@ void CustomConfig::loadDefaults() {
     topic_prefix = TOPIC_PREFIX;
     topic_cmd = TOPIC_CMD;
     topic_state = TOPIC_STATE;
-    topic_heartbeat = TOPIC_HEARTBEAT;
-    topic_response = TOPIC_RESPONSE;
-    topic_error = TOPIC_ERROR;
     
     // Robot control settings
     control_frequency = CONTROL_FREQUENCY;
     
     // Safety settings
-    command_timeout = COMMAND_TIMEOUT;
     max_linear_velocity = MAX_LINEAR_VELOCITY;
     max_angular_velocity = MAX_ANGULAR_VELOCITY;
     emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;