tanjianbin/lzwc-terminal-unitreeGo2
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cdcc95bff3568b7a1edd66cc0fc95a18748617ab
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11 Commits

Author SHA1 Message Date
Sucan126
cdcc95bff3 Revert "refactor(controller): Remove additional unused motion control methods" 
This reverts commit 2189d7841f.
 2025-09-22 15:24:58 +08:00
Sucan126
2189d7841f refactor(controller): Remove additional unused motion control methods 
- Deleted the UseRemoteCommandFromApi, MoveToAbsolutePosition, and MoveToIncrementPosition methods from the controller interface and implementation. This further simplifies the code structure and enhances maintainability.
 2025-09-22 15:18:30 +08:00
Sucan126
bd023eaba3 refactor(controller): Remove unused motion control methods 
- 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.
 2025-09-22 15:15:10 +08:00
Sucan126
7101cbffa2 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
 2025-09-21 15:19:23 +08:00
Sucan126
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
Sucan126
b05086d03d fix: 将MotionSwitcherClient从go2命名空间更正为b2命名空间 2025-09-21 12:41:09 +08:00
Sucan126
fda1dd8204 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
 2025-09-21 12:35:11 +08:00
Sucan126
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
Sucan126
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
Sucan126
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
Sucan126
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