48cae46960
refactor(navigation): Update ChannelSubscriberPtr to use specific message type
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- 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.
2025-09-22 14:50:52 +08:00
6b9ad80757
fix(命名空间): 修复Unitree SDK类型命名空间问题并重构PoseData
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- 将ChannelSubscriberPtr改为unitree::robot::ChannelSubscriberPtr
- 重构PoseData结构为poseDate类，增加JSON序列化功能
- 更新相关代码以使用新的poseDate类
2025-09-22 14:46:18 +08:00
ccaf5f3513
build: 更新导航头文件中的消息依赖
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将std_msgs/msg/dds_/String_.hpp替换为unitree/idl/ros2/String_.hpp以使用统一的消息接口
2025-09-22 14:40:38 +08:00
ec6f4c0057
feat(导航): 实现SLAM信息处理和导航状态管理
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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)
2025-09-22 11:33:15 +08:00
1a9fc5f7e1
refactor(navigation): 重构Navigation类继承unitree::robot::Client
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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
2025-09-21 15:15:09 +08:00
ae8b01cf24
Remove Windows MQTT setup guide and update Navigation class to include custom namespace. Increment version in main application log message to v0.0.2.
2025-09-20 19:11:31 +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
