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

include/config.hpp

@@ -25,14 +25,13 @@ constexpr std::string_view MQTT_CLIENT_ID = "unitree_go2_client";
 constexpr std::string_view MQTT_USERNAME = "lzwc";
 constexpr std::string_view MQTT_PASSWORD = "Lzwc@4187.";
 
-// Topic settings
-constexpr std::string_view TOPIC_PREFIX = "unitree/go2";
-constexpr std::string_view TOPIC_CMD = "cmd";
-constexpr std::string_view TOPIC_STATE = "state";
-
-// Robot control settings
-constexpr double CONTROL_FREQUENCY = 200.0;       // Hz
-constexpr double STATE_PUBLISH_FREQUENCY = 50.0;  // Hz
+// 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";
 
 // Safety settings
 constexpr double MAX_LINEAR_VELOCITY = 1.5;       // m/s
@@ -58,7 +57,6 @@ public:
     std::string topic_state;
     
     double control_frequency;
-    double state_publish_frequency;
     double max_linear_velocity;
     double max_angular_velocity;
     double emergency_stop_timeout;

include/custom_robot.hpp

@@ -33,7 +33,6 @@ public:
     bool initializeMqtt();
     void onMqttMessage(const std::string& topic, const std::string& payload);
     void onMqttConnection(bool connected);
-    void publishStatus();
     
     void processCmd(const nlohmann::json& message);
     bool processOacCmd(const std::string& cmd, const nlohmann::json& message);