Add command processing functionality to CustomRobot class. Introduced methods for handling OAC and Sport commands via MQTT messages, including validation and response publishing. Removed unnecessary logging statements for cleaner output.

include/custom_robot.hpp

@@ -9,6 +9,7 @@
 #include <atomic>
 #include <string>
 #include <vector>
+#include <nlohmann/json.hpp>
 #include <unitree/robot/go2/robot_state/robot_state_client.hpp>
 
 namespace custom {
@@ -27,11 +28,15 @@ public:
     bool SwitchService(const std::string& serviceName, bool enable);
     bool SetReportFreq(int32_t interval, int32_t duration);
     
-    // MQTT related methods
     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);
+    bool processSportCmd(const std::string& cmd, const nlohmann::json& message);
+    void publishCmdResponse(const std::string& type, const std::string& cmd, bool success);
 
 private:
     std::string generateRandomClientId() const;