feat(low_controller): Integrate LowController for low-level command handling

- Added LowController class to manage low-level commands and communication.
- Updated CustomRobot to initialize and manage LowController, including methods for processing low-level commands.
- Enhanced logger functionality with variadic template methods for formatted logging.
- Updated CMakeLists.txt to include the new low_controller.cpp source file and low_controller.hpp header.

include/low_controller.hpp

@@ -0,0 +1,43 @@
+#ifndef LOW_CONTROLLER_HPP
+#define LOW_CONTROLLER_HPP
+
+#include <unitree/robot/channel/channel_publisher.hpp>
+#include <unitree/idl/go2/LowCmd_.hpp>
+#include <unitree/common/thread/thread.hpp>
+#include <atomic>
+
+#define TOPIC_LOWCMD "rt/lowcmd"
+
+constexpr double PosStopF = (2.146E+9f);
+constexpr double VelStopF = (16000.0f);
+
+namespace custom {
+
+class LowController {
+public:
+    LowController();
+    ~LowController();
+
+    bool initialize();
+    bool start();
+    bool stop();
+    void shutdown() { stop(); }
+    bool isRunning() const { return running_; }
+
+    void requestAutoCharge(bool enable);
+    void powerOff();
+
+private:
+    void publishLoop();
+    void initLowCmd();
+    static uint32_t crc32_core(uint32_t* ptr, uint32_t len);
+
+    unitree::robot::ChannelPublisherPtr<unitree_go::msg::dds_::LowCmd_> lowcmd_publisher_;
+    unitree_go::msg::dds_::LowCmd_ low_cmd_{};
+    unitree::common::ThreadPtr publish_thread_;
+    std::atomic<bool> running_{false};
+};
+
+} // namespace custom
+
+#endif // LOW_CONTROLLER_HPP