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

scripts/run_robot.sh

@@ -105,8 +105,10 @@ if [ ! -f "$CONFIG_FILE" ]; then
     "interface": "eth0"
   },
   "mqtt": {
-    "broker": "localhost",
+    "broker": "192.168.2.236",
     "port": 1883,
+    "username": "lzwc",
+    "password": "Lzwc@4187.",
     "client_id": "unitree_go2_client"
   },
   "topics": {
@@ -115,8 +117,7 @@ if [ ! -f "$CONFIG_FILE" ]; then
     "state": "state"
   },
   "robot": {
-    "control_frequency": 200.0,
-    "state_publish_frequency": 50.0
+    "control_frequency": 200.0
   },
   "safety": {
     "max_linear_velocity": 1.5,