Remove MQTT dependency and refactor configuration structure. Updated CMakeLists.txt to eliminate MQTT library checks and adjusted config.hpp to use string_view for configuration parameters. Simplified controller and custom_robot classes by removing MQTT-related code and enhancing robot state management. Introduced service management methods in CustomRobot for better state handling.

CMakeLists.txt

@@ -12,9 +12,7 @@ find_package(Threads REQUIRED)
 # Find installed unitree_sdk2
 find_package(unitree_sdk2 REQUIRED)
 
-# Find MQTT library (Eclipse Paho)
-pkg_check_modules(PAHO_MQTT REQUIRED libpaho-mqtt3c)
-pkg_check_modules(PAHO_MQTTPP REQUIRED libpaho-mqttpp3)
+# MQTT library is no longer required
 
 # Find JSON library
 find_package(nlohmann_json REQUIRED)
@@ -27,7 +25,6 @@ include_directories(
 # Source files
 set(SOURCES
     src/main.cpp
-    src/mqtt.cpp
     src/controller.cpp
     src/custom_robot.cpp
     src/config.cpp
@@ -40,18 +37,10 @@ add_executable(main ${SOURCES})
 # Link libraries
 target_link_libraries(main
     unitree_sdk2
-    ${PAHO_MQTT_LIBRARIES}
-    ${PAHO_MQTTPP_LIBRARIES}
     nlohmann_json::nlohmann_json
     Threads::Threads
 )
 
-# Compiler options
-target_compile_options(main PRIVATE
-    ${PAHO_MQTT_CFLAGS_OTHER}
-    ${PAHO_MQTTPP_CFLAGS_OTHER}
-)
-
 # Set output directory
 set_target_properties(main PROPERTIES
     RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}