tanjianbin/lzwc-terminal-unitreeGo2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

refactor(config): 移除未使用的MQTT主题和安全设置

Browse Source 
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
This commit is contained in:
Sucan126
2025-09-21 14:50:13 +08:00
parent 2392264713
commit 9585ae3df6
2 changed files with 2 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
include/config.hpp
View File

@@ -28,10 +28,6 @@ constexpr std::string_view MQTT_PASSWORD = "Lzwc@4187.";
// MQTT Topics // MQTT Topics
constexpr const char* TOPIC_PREFIX = "unitree/go2"; constexpr const char* TOPIC_PREFIX = "unitree/go2";
constexpr const char* TOPIC_CMD = "cmd"; 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";
// Safety settings // Safety settings
constexpr double MAX_LINEAR_VELOCITY = 1.5; // m/s constexpr double MAX_LINEAR_VELOCITY = 1.5; // m/s

4
src/config.cpp
View File

@@ -14,15 +14,11 @@ void CustomConfig::loadDefaults() {
topic_prefix = TOPIC_PREFIX; topic_prefix = TOPIC_PREFIX;
topic_cmd = TOPIC_CMD; topic_cmd = TOPIC_CMD;
topic_state = TOPIC_STATE; topic_state = TOPIC_STATE;
topic_heartbeat = TOPIC_HEARTBEAT;
topic_response = TOPIC_RESPONSE;
topic_error = TOPIC_ERROR;
// Robot control settings // Robot control settings
control_frequency = CONTROL_FREQUENCY; control_frequency = CONTROL_FREQUENCY;
// Safety settings // Safety settings
command_timeout = COMMAND_TIMEOUT;
max_linear_velocity = MAX_LINEAR_VELOCITY; max_linear_velocity = MAX_LINEAR_VELOCITY;
max_angular_velocity = MAX_ANGULAR_VELOCITY; max_angular_velocity = MAX_ANGULAR_VELOCITY;
emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT; emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;