- Moved the trajControl method to the private section of the CustomRobot class for better encapsulation.
- Introduced traj_dt_ and traj_count_ member variables to manage trajectory timing and state.
- Removed the createExampleTrajectory function to streamline the code and eliminate unused functionality in trajectory handling.
- Deleted the Close method call for the recharge object in the CustomRobot destructor to simplify resource management.
- Removed the Stop method call for the traj_th_ thread in stopTraj, streamlining the stopping process of trajectory control.
- Renamed the ClassicWalk method to StaticWalk in the controller interface, removing the flag parameter for a simplified usage.
- Updated the implementation to reflect the new method signature, ensuring consistency across the controller functionality.
- Modified the TrajectoryFollow method in both the header and implementation files to accept a non-const reference to a vector of unitree::robot::go2::PathPoint, allowing for in-place modifications of the path.
- Removed redundant state retrieval for the SwitchSet command.
- Added error handling for missing 'enable' parameter in the command message.
- Streamlined the logic for setting the switch state based on the provided parameter.
- Added methods for trajectory control: trajControl, startTraj, and stopTraj.
- Integrated trajectory control into command processing for starting and stopping dynamic trajectories.
- Introduced a recurrent thread for continuous trajectory updates at a frequency of 50Hz.
- Initialized trajectory control state management with atomic flags.
- Changed the signature of TrajectoryFollow to accept a vector of unitree::robot::go2::PathPoint instead of std::array<float, 6>.
- Updated the implementation of TrajectoryFollow in controller.cpp to utilize the new path type.
- Removed unnecessary status message in CMakeLists.txt related to unitree_sdk2 detection.
- Added a new function in custom_robot.cpp to create example trajectories for different path types (line, square, circle) and integrated it into the command processing for TrajectoryFollow.
- Added Recharge class for managing automatic recharge capabilities using ArUco markers.
- Integrated recharge functionality into CustomRobot, including command processing for starting and stopping recharge.
- Updated CMakeLists.txt to include the new recharge.cpp source file.
- Enhanced README.md to document the new auto recharge support feature.
- 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.
- Added variadic template methods to the Logger class for formatted logging at different log levels (debug, info, warn, error).
- Updated existing logging calls in CustomRobot to utilize the new formatted logging methods for improved readability and consistency.
- Removed the old log method implementation from logger.cpp to streamline the codebase.
- 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.
- Removed several unused methods from the Controller class, including HandStand, ClassicWalk, AutoRecoverSet, StaticWalk, TrotRun, EconomicGait, and SwitchAvoidMode.
- Updated CMakeLists.txt to remove the hardcoded include path for unitree SDK, streamlining the include directories for the main target.
- Deleted the UseRemoteCommandFromApi, MoveToAbsolutePosition, and MoveToIncrementPosition methods from the controller interface and implementation. This further simplifies the code structure and enhances maintainability.
- Eliminated several unused motion control methods from the controller interface and implementation, including Content, LeftFlip, BackFlip, HandStand, FreeWalk, FreeBound, FreeJump, FreeAvoid, ClassicWalk, WalkUpright, CrossStep, AutoRecoverSet, StaticWalk, TrotRun, and EconomicGait. This cleanup simplifies the code structure and improves maintainability.
- Changed ChannelSubscriberPtr to ChannelSubscriberPtr<std_msgs::msg::dds_::String_> for slamInfo and slamKeyInfo in navigation.hpp and navigation.cpp.
- Updated initialization of subscribers to reflect the new type specification.
