refactor(config): 重构配置系统和MQTT相关功能
移除状态发布功能，简化配置系统 更新MQTT配置和主题设置 调整README文档以反映最新变更
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159
README.md
159
README.md
@@ -11,7 +11,6 @@ A high-performance C++ implementation for controlling Unitree GO2 robot with rea
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- **📝 Comprehensive Logging**: Multi-level logging with file and console output
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- **⚙️ Configuration Management**: JSON-based configuration with runtime presets
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- **🧭 Navigation Support**: SLAM and navigation capabilities
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- **📊 State Publishing**: Real-time robot state broadcasting
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- **🎭 Special Actions**: Support for dances, tricks, and custom motions
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- **🚀 High Performance**: Optimized for real-time control with configurable frequencies
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- **🔧 Development Tools**: Built-in scripts and utilities for easy deployment
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@@ -79,31 +78,7 @@ The system supports flexible configuration through compile-time defaults. Config
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The default configuration is defined in `include/config.hpp`:
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```cpp
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// Network settings
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constexpr std::string_view NETWORK_INTERFACE = "eth0";
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// MQTT settings
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constexpr std::string_view MQTT_BROKER = "192.168.2.236";
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constexpr int MQTT_PORT = 1883;
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constexpr std::string_view MQTT_CLIENT_ID = "unitree_go2_client";
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constexpr std::string_view MQTT_USERNAME = "lzwc";
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constexpr std::string_view MQTT_PASSWORD = "Lzwc@4187.";
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// Topic settings
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constexpr std::string_view TOPIC_PREFIX = "unitree/go2";
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constexpr std::string_view TOPIC_CMD = "cmd";
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constexpr std::string_view TOPIC_STATE = "state";
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// Robot control settings
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constexpr double CONTROL_FREQUENCY = 200.0; // Hz
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constexpr double STATE_PUBLISH_FREQUENCY = 50.0; // Hz
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// Safety settings
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constexpr double MAX_LINEAR_VELOCITY = 1.5; // m/s
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constexpr double MAX_ANGULAR_VELOCITY = 2.0; // rad/s
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constexpr double EMERGENCY_STOP_TIMEOUT = 5.0; // seconds
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```
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To customize these settings, modify the values in `include/config.hpp` and rebuild the project.
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@@ -123,13 +98,9 @@ To customize these settings, modify the values in `include/config.hpp` and rebui
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The robot runs with sensible defaults out of the box:
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- **Network Interface**: `eth0`
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- **MQTT Broker**: `192.168.2.236:1883`
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- **MQTT Credentials**: Username `lzwc`, Password `Lzwc@4187.`
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- **Control Frequency**: 200Hz
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- **Safety Limits**: Conservative settings for safe operation
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- **Logging**: INFO level to console
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Configuration is done at compile time by modifying values in `include/config.hpp`.
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No configuration files or command-line arguments needed!
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## MQTT API
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@@ -138,24 +109,23 @@ The robot communicates via MQTT using the following topic structure:
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### Command Topics
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- `unitree/go2/cmd/oac`: Obstacle avoidance commands
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- `unitree/go2/cmd/sport`: Sport mode commands
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- `unitree/go2/cmd/rsc`: Robot state commands
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- `unitree/go2/cmd/nav`: Navigation commands
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- `unitree/go2/cmd`: All commands (sport, navigation, robot state, obstacle avoidance)
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Commands are sent to the command topic with a JSON payload specifying the command type and parameters.
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### State Topics
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- `unitree/go2/state/robot`: Robot state (position, IMU, motors, etc.)
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- `unitree/go2/state/heartbeat`: System status and statistics
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- `unitree/go2/state/response`: Command execution responses
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- `unitree/go2/state/error`: Error messages
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### Sport Commands
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Sport commands are sent with a JSON payload containing the command type and optional parameters:
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```json
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{
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"request_id": "unique_id",
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"cmd": "StandUp"
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"type": "sport",
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"cmd": "StandUp",
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"param": {
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// Optional parameters depending on the command
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}
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}
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```
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@@ -170,36 +140,65 @@ Supported sport commands:
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- `Dance1`: Dance routine 1
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- `Dance2`: Dance routine 2
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- `Hello`: Greeting gesture
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- `Move`: Move with specified velocities (vx, vy, vyaw)
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- `Euler`: Set body orientation (roll, pitch, yaw)
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- And many more...
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### Navigation Commands
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Navigation commands are sent with a JSON payload containing the command type and parameters:
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```json
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{
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"request_id": "unique_id",
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"type": "nav",
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"cmd": "startMapping"
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}
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```
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Supported navigation commands:
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- `startMapping`: Start SLAM mapping
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- `endMapping`: End SLAM mapping
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- `pauseNavigation`: Pause navigation
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- `resumeNavigation`: Resume navigation
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- `closeSlam`: Close SLAM service
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- `start_mapping`: Start SLAM mapping
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- `end_mapping`: End SLAM mapping with map address parameter
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- `initialize_pose`: Set initial pose with position and orientation
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- `pose_navigation`: Navigate to a specific pose
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- `pause_navigation`: Pause navigation
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- `resume_navigation`: Resume navigation
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- `close_slam`: Close SLAM service
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### System Commands
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### Obstacle Avoidance Commands
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Obstacle avoidance commands are sent with a JSON payload containing the command type and parameters:
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```json
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{
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"request_id": "unique_id",
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"type": "oac",
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"cmd": "SwitchSet",
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"param": {
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"enable": true
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}
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}
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```
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Supported obstacle avoidance commands:
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- `SwitchSet`: Enable/disable obstacle avoidance
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- `SwitchGet`: Get obstacle avoidance status
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- `UseRemoteCommandFromApi`: Configure remote command source
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- `MoveToAbsolutePosition`: Move to absolute position
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- `MoveToIncrementPosition`: Move to increment position
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### System Commands
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System commands are sent with a JSON payload containing the command type and parameters:
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```json
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{
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"type": "rsc",
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"cmd": "GetServiceList"
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}
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```
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Supported system commands:
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- `GetServiceList`: Get list of available services
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- `SwitchService`: Enable/disable a service
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- `SetReportFreq`: Set state reporting frequency
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- `list`: Get list of available services
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- `switch`: Enable/disable a service
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## Supported Actions
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@@ -218,11 +217,11 @@ Supported system commands:
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- `Hello`: Greeting gesture
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### Navigation Actions
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- `startMapping`: Start SLAM mapping
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- `endMapping`: End SLAM mapping and save map
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- `pauseNavigation`: Pause navigation
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- `resumeNavigation`: Resume navigation
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- `closeSlam`: Close SLAM service
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- `start_mapping`: Start SLAM mapping
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- `end_mapping`: End SLAM mapping and save map
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- `pause_navigation`: Pause navigation
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- `resume_navigation`: Resume navigation
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- `close_slam`: Close SLAM service
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## Safety Features
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@@ -247,21 +246,21 @@ Supported system commands:
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### Custom Configurations
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To customize the configuration, modify the values in `include/config.hpp`:
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The robot's configuration is defined at compile time in `include/config.hpp`. To customize the configuration:
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```cpp
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// Example: Change MQTT broker address
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constexpr std::string_view MQTT_BROKER = "192.168.1.100";
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1. Edit the constants in `include/config.hpp` to change default values
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2. Rebuild the project:
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```bash
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cd build
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make -j$(nproc)
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```
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// Example: Change control frequency
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constexpr double CONTROL_FREQUENCY = 400.0; // Hz
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```
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After making changes, rebuild the project:
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```bash
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cd build
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make -j$(nproc)
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```
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Common configuration options include:
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- Network interface
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- MQTT broker settings
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- Topic prefixes
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- Control frequencies
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- Safety limits
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## Quick Start Scripts
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@@ -282,6 +281,7 @@ unitree-go2/
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├── CMakeLists.txt # Build configuration
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├── README.md # This file
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├── LICENSE # License information
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├── .gitignore # Git ignore file
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├── config/ # Configuration files (optional)
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├── include/ # Header files
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│ ├── config.hpp # Configuration management
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@@ -292,13 +292,13 @@ unitree-go2/
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│ ├── navigation.hpp # Navigation and SLAM
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│ └── nlohmann/ # JSON library
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├── src/ # Source files
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│ ├── config.cpp
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│ ├── controller.cpp
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│ ├── custom_robot.cpp
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│ ├── logger.cpp
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│ ├── main.cpp
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│ ├── mqtt.cpp
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│ └── navigation.cpp
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│ ├── config.cpp # Configuration implementation
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│ ├── controller.cpp # Robot controller implementation
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│ ├── custom_robot.cpp # Main orchestrator implementation
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│ ├── logger.cpp # Logging system implementation
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│ ├── main.cpp # Entry point
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│ ├── mqtt.cpp # MQTT client implementation
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│ └── navigation.cpp # Navigation and SLAM implementation
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├── scripts/ # Utility scripts
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│ ├── install_deps.sh # Install dependencies
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│ └── run_robot.sh # Run with optimal settings
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@@ -348,9 +348,8 @@ This project is licensed under the MIT License - see the LICENSE file for detail
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## Performance Notes
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- **Control Frequency**: Default 200Hz, configurable up to 400Hz for high-performance applications
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- **State Publishing**: Default 50Hz, can be adjusted based on network bandwidth
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- **Memory Usage**: Optimized for minimal heap allocations during runtime
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- **CPU Usage**: Multi-threaded design with separate threads for control, MQTT, and state publishing
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- **CPU Usage**: Multi-threaded design with separate threads for control and MQTT
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## Contributing
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