feat(recharge): Implement automatic recharge functionality

- Added Recharge class for managing automatic recharge capabilities using ArUco markers.
- Integrated recharge functionality into CustomRobot, including command processing for starting and stopping recharge.
- Updated CMakeLists.txt to include the new recharge.cpp source file.
- Enhanced README.md to document the new auto recharge support feature.

include/recharge.hpp

@@ -0,0 +1,45 @@
+#pragma once
+#include <unitree/robot/channel/channel_publisher.hpp>
+#include <unitree/robot/channel/channel_subscriber.hpp>
+#include <unitree/idl/ros2/std_msgs/msg/dds_/_String.hpp>
+#include <string>
+#include <vector>
+#include <functional>
+#include <mutex>
+#include <atomic>
+#include <thread>
+#include <condition_variable>
+
+#define RechargeTopic "rt/aruco_cmd"
+#define RechargeStateTopic "rt/aruco_state"
+
+namespace custom {
+    class Recharge {
+    public:
+        Recharge(double timeout = 60.0);
+        
+        bool Init();
+
+        std::string StartRecharge(int repeat = 1, double period_sec = 1.0);
+
+        bool StopRecharge(int repeat = 1, double period_sec = 1.0);
+
+        void RegisterStateCallback(std::function<void(const std::string&)> callback);
+
+        std::string GetLastState() const;
+
+    private:
+        void OnStateMessage(const void* message);
+
+        bool Publish(const std::string& data, int repeat = 1, double period_sec = 1.0);
+
+        double timeout_;
+        mutable std::mutex state_mutex_;
+        std::string last_state_;
+        std::vector<std::function<void(const std::string&)>> callbacks_;
+        std::condition_variable cv_;
+        
+        unitree::robot::ChannelPublisherPtr<std_msgs::msg::dds_::String_> cmd_pub_;
+        unitree::robot::ChannelSubscriberPtr<std_msgs::msg::dds_::String_> state_sub_;
+    };
+}