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.

src/main.cpp

@@ -11,24 +11,18 @@ std::unique_ptr<CustomRobot> g_robot;
 
 void signalHandler(int signal) {
     LOG_INFO("Received signal " + std::to_string(signal) + ", shutting down...");
-    if (g_robot) {
-        g_robot->stop();
-    }
     exit(0);
 }
 
 int main(int argc, char** argv) {
-    // Initialize logger with default settings
     Logger::getInstance().setLevel(LogLevel::INFO);
     
     LOG_INFO("Starting Unitree GO2 System v0.0.1");
     
-    // Setup signal handlers
     signal(SIGINT, signalHandler);
     signal(SIGTERM, signalHandler);
     
     try {
-        // Create robot with compile-time defaults (no config file needed)
         g_robot = std::make_unique<CustomRobot>("");
         
         if (!g_robot->initialize()) {
@@ -37,11 +31,7 @@ int main(int argc, char** argv) {
         }
         
         LOG_INFO("Robot initialized successfully");
-        LOG_INFO("Press Ctrl+C to stop the robot");
-        
-        // Run the robot
-        g_robot->run();
-        
+        g_robot->start();
     } catch (const std::exception& e) {
         LOG_ERROR("Exception: " + std::string(e.what()));
         return 1;