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1e4e5c3943
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feat(服务监控): 添加服务状态自动打印功能
当获取服务列表时，系统现在会自动打印每个服务的状态信息到日志中，包括服务名称、当前状态(ACTIVE/INACTIVE)和保护状态(YES/NO)
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2025-09-22 14:30:59 +08:00 |
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ec6f4c0057
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feat(导航): 实现SLAM信息处理和导航状态管理
添加SLAM信息订阅处理功能，包括位姿更新和任务结果处理
引入PoseData结构体存储当前位姿信息
使用常量定义替换硬编码的API ID
增加导航状态管理功能(到达检测)
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2025-09-22 11:33:15 +08:00 |
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1d8daa7542
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fix(navigation): 修复Navigation类中Init方法的实现
移除对Client::Init()的显式调用，因为基类构造函数已处理该初始化。同时更新README.md中的相关描述。
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2025-09-21 15:24:58 +08:00 |
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b6b1dc410b
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refactor(custom_robot): 移除未使用的运动控制命令
移除BodyHeight、SwitchGait、ContinuousGait、MoveToPos和FastWalk等不再使用的运动控制命令处理逻辑，简化代码结构
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2025-09-21 15:21:00 +08:00 |
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7101cbffa2
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refactor(controller): 移除未使用的运动控制接口
清理控制器头文件中不再使用的运动控制方法，包括BodyHeight、SwitchGait、ContinuousGait、MoveToPos和FastWalk，以简化接口并提高代码可维护性
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2025-09-21 15:19:23 +08:00 |
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1a9fc5f7e1
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refactor(navigation): 重构Navigation类继承unitree::robot::Client
移除不必要的client_成员变量，直接继承unitree::robot::Client类
简化初始化逻辑，更新相关文档说明
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2025-09-21 15:15:09 +08:00 |
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61d206e948
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refactor(navigation): 移除冗余的json值类型转换
简化日志输出中对json值的处理，直接使用value方法获取值而不再显式调用get方法
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2025-09-21 15:01:32 +08:00 |
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ff895ff2ed
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refactor(navigation): 将日志输出从格式化字符串改为字符串拼接
修改日志输出方式，使用字符串拼接替代格式化字符串，提高代码一致性并减少潜在的类型安全问题
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2025-09-21 14:55:05 +08:00 |
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093bdf18b4
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refactor(config): 移除未使用的配置参数
移除topic_state和control_frequency配置项，简化默认配置加载逻辑
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2025-09-21 14:51:44 +08:00 |
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9585ae3df6
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refactor(config): 移除未使用的MQTT主题和安全设置
清理不再使用的MQTT主题配置(心跳、响应、错误)和命令超时设置，简化配置结构
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2025-09-21 14:50:13 +08:00 |
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2392264713
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refactor(controller): 移除未使用的MoveToPos和FastWalk方法
这些方法未被代码库其他部分调用，移除以减少维护负担
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2025-09-21 14:47:36 +08:00 |
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97d048339b
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refactor(controller): 移除未使用的运动控制方法
清理Controller类中不再使用的BodyHeight、SwitchGait、ContinuousGait和Dance2方法，以简化代码结构
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2025-09-21 14:45:30 +08:00 |
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dbbe63c7b1
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feat(controller): 添加运动切换命令处理和多种运动控制功能
添加对运动切换命令(CheckMode/SelectMode/ReleaseMode)的处理支持
在Controller类中新增多种运动控制功能接口
更新README文档以包含新增的运动切换命令和功能说明
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2025-09-21 14:40:11 +08:00 |
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02908202f5
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fix: 将MotionSwitcherClient从go2更新为b2版本
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2025-09-21 14:03:04 +08:00 |
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b05086d03d
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fix: 将MotionSwitcherClient从go2命名空间更正为b2命名空间
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2025-09-21 12:41:09 +08:00 |
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fda1dd8204
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refactor: 更新 motion_switcher_client 的引用路径
将 motion_switcher_client 的引用从 go2 路径更新为 b2 路径，以匹配最新的库结构
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2025-09-21 12:35:11 +08:00 |
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f30590033b
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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
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2025-09-20 19:54:04 +08:00 |
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f7acf6ff51
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docs: 更新README文档以反映最新功能变更
- 添加导航和SLAM功能说明
- 更新MQTT配置和命令结构
- 修改编译时配置说明
- 调整项目结构描述
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2025-09-20 19:37:00 +08:00 |
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ae8b01cf24
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Remove Windows MQTT setup guide and update Navigation class to include custom namespace. Increment version in main application log message to v0.0.2.
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2025-09-20 19:11:31 +08:00 |
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38db96e433
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Add navigation functionality to CustomRobot and Controller classes. Introduced Navigation class for handling mapping and pose navigation commands. Updated CustomRobot to process navigation commands and manage Navigation instance. Enhanced Controller with motion switching capabilities, improving overall robot control and navigation features.
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2025-09-20 16:05:10 +08:00 |
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2de8f53ae2
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Refactor switch state handling in CustomRobot::processOacCmd method. Updated logic to store the toggled state in a variable before passing it to SwitchSet, improving code clarity and maintainability.
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2025-09-09 14:33:33 +08:00 |
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67b1a7fe80
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Add RSC command processing to CustomRobot class. Introduced processRscCmd method for handling service list queries and service switching commands, enhancing functionality. Added printServiceList method for improved service status reporting. Removed unused publishCmdResponse method to streamline code.
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2025-09-09 14:25:32 +08:00 |
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54a9f9b544
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Enhance logging and error handling in Controller class methods. Added checks for uninitialized SportClient and included informational logs for API responses, improving visibility into method execution and error management.
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2025-09-09 11:53:30 +08:00 |
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21c5bc2573
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Enhance logging in Controller class methods. Added checks for uninitialized ObstaclesAvoidClient and included informational logs for SwitchSet and SwitchGet API responses, improving error handling and visibility into state changes.
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2025-09-09 11:46:27 +08:00 |
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55f4358401
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Enhance logging in CustomRobot::processCmd method. Added an informational log statement to indicate the success of command processing, improving visibility into command execution outcomes.
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2025-09-09 11:42:36 +08:00 |
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fb4ea73ec0
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Enhance logging in CustomRobot::processOacCmd method. Added informational log statement to display the current switch state before toggling, improving visibility into command processing.
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2025-09-09 11:39:34 +08:00 |
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b35395e543
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Refactor command processing in CustomRobot class. Changed method name from processCommand to processCmd for improved consistency and clarity in MQTT message handling.
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2025-09-09 11:34:35 +08:00 |
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347240026c
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Refactor SwitchSet command handling in CustomRobot class. Updated logic to retrieve the current switch state before toggling, improving error handling and ensuring correct state management.
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2025-09-09 11:20:10 +08:00 |
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f46bb3b7c9
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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.
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2025-09-09 11:15:03 +08:00 |
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cf58ad202a
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Refactor MQTT callback function names for consistency. Changed MessageCallback and ConnectionCallback to MessageCb and ConnectionCb in mqtt.hpp, mqtt.cpp, and custom_robot.cpp to improve code clarity and maintainability.
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2025-09-09 09:56:13 +08:00 |
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e7bfce9dcb
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Refactor logging in CustomRobot and main event loop implementation. Removed service logging from CustomRobot::start for cleaner output. Added a continuous event loop in main to keep the program running and allow for future periodic tasks.
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2025-09-08 20:11:08 +08:00 |
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99ca9456c0
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Enhance MQTT connection handling and client ID generation. Updated the MQTT client connection method to accept username and password parameters, added validation for ASCII characters in username and password, and improved error logging for connection failures. Modified client ID generation to ensure it only contains valid ASCII characters, defaulting to a safe value if necessary.
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2025-09-08 20:02:14 +08:00 |
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dec8b29c3c
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Update RobotStateClient timeout to use float literal for consistency. This change ensures type correctness in the timeout setting within the CustomRobot initialization process.
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2025-09-08 19:58:26 +08:00 |
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20dabdddee
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Remove controller connection status from CustomRobot status publication. This change simplifies the status message by eliminating the check for controller connectivity, streamlining the published data.
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2025-09-08 19:56:52 +08:00 |
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e3c214ee1c
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Refactor MQTT configuration access in CustomRobot class. Updated member variable access from pointer dereferencing to direct access for improved clarity and consistency in the codebase.
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2025-09-08 19:55:56 +08:00 |
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7a9a31afd4
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Integrate Paho MQTT C library into project. Updated CMakeLists.txt to find PahoMqttC package and added fallback for manual linking. Refactored mqtt.hpp and mqtt.cpp to utilize Paho MQTT C API, replacing previous async client implementation. Added Windows setup guide for MQTT library installation.
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2025-09-08 19:53:39 +08:00 |
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c655cd8c91
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Remove MQTT library requirement from CMakeLists.txt. This update simplifies the build configuration by eliminating unnecessary dependencies, streamlining the project setup.
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2025-09-08 18:52:28 +08:00 |
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6a85d43c67
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Remove nlohmann_json library from CMakeLists.txt. This change simplifies the linking process by eliminating the dependency on the nlohmann JSON library, which is no longer required for the project.
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2025-09-08 18:51:58 +08:00 |
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7f43d729a2
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Enhance CMake configuration and add nlohmann/json library files. Updated CMakeLists.txt to include the nlohmann JSON library directory. Added multiple header files for JSON serialization, deserialization, and utility functions, ensuring compatibility with the latest version 3.11.2. This update improves JSON handling capabilities in the project.
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2025-09-08 18:50:46 +08:00 |
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60a5490ec8
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Update MQTT configuration in config.hpp. Changed broker address to a specific IP and added username and password for authentication. Removed commented-out sections for clarity.
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2025-09-08 18:38:37 +08:00 |
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90228e4ab9
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Implement MQTT functionality in CustomRobot class. Added methods for MQTT initialization, message handling, and connection management. Updated configuration to remove multimedia settings and streamline MQTT-related parameters. Enhanced logging for MQTT operations and ensured proper cleanup during shutdown.
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2025-09-08 18:35:02 +08:00 |
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926d88972d
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Refactor configuration management by introducing CustomConfig class. Updated config.hpp to streamline settings and removed legacy configuration presets. Adjusted controller and custom_robot classes to utilize the new configuration structure. Enhanced error handling and logging during initialization processes.
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2025-09-08 18:16:50 +08:00 |
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f72ce9ce58
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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.
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2025-09-07 20:20:34 +08:00 |
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ecb4c602a1
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Refactor CMake configuration to find installed unitree_sdk2 package instead of using a local path. Removed obsolete subdirectory addition and include paths. Cleaned up unnecessary install commands for config files.
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2025-09-07 17:11:20 +08:00 |
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6acff483dd
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Add initial project structure with CMake configuration, source files, and README documentation for Unitree GO2 Custom Controller
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2025-09-07 16:43:22 +08:00 |
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b2b6ddf245
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Initial commit
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2025-09-07 07:28:24 +00:00 |
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