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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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