tanjianbin/lzwc-terminal-unitreeGo2
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refactor(config): 重构配置系统和MQTT相关功能

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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
This commit is contained in:
Sucan126
2025-09-20 19:54:04 +08:00
parent f7acf6ff51
commit f30590033b
6 changed files with 113 additions and 107 deletions
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16
include/config.hpp
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@@ -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;