4cce0b69c8
refactor(custom_robot): Disable LowController functionality temporarily
...
- Commented out all references to LowController in custom_robot.hpp and custom_robot.cpp to disable its functionality.
- Added warning log in processLowCmd to indicate that LowController functionality is currently disabled until re-implementation.
2025-09-22 19:50:39 +08:00
c5cff9fbdb
feat(low_controller): Integrate LowController for low-level command handling
...
- Added LowController class to manage low-level commands and communication.
- Updated CustomRobot to initialize and manage LowController, including methods for processing low-level commands.
- Enhanced logger functionality with variadic template methods for formatted logging.
- Updated CMakeLists.txt to include the new low_controller.cpp source file and low_controller.hpp header.
2025-09-22 19:11:20 +08:00
dbbe63c7b1
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
2025-09-21 14:40:11 +08:00
f30590033b
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
2025-09-20 19:54:04 +08:00
38db96e433
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.
2025-09-20 16:05:10 +08:00
67b1a7fe80
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.
2025-09-09 14:25:32 +08:00
f46bb3b7c9
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.
2025-09-09 11:15:03 +08:00
90228e4ab9
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.
2025-09-08 18:35:02 +08:00
926d88972d
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.
2025-09-08 18:16:50 +08:00
f72ce9ce58
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.
2025-09-07 20:20:34 +08:00
6acff483dd
Add initial project structure with CMake configuration, source files, and README documentation for Unitree GO2 Custom Controller
2025-09-07 16:43:22 +08:00
