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.
Sucan1262025-09-20 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.
Sucan1262025-09-20 16:05:10 +08:00
2de8f53ae2
Refactor switch state handling in CustomRobot::processOacCmd method. Updated logic to store the toggled state in a variable before passing it to SwitchSet, improving code clarity and maintainability.
Sucan1262025-09-09 14:33:33 +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.
Sucan1262025-09-09 14:25:32 +08:00
54a9f9b544
Enhance logging and error handling in Controller class methods. Added checks for uninitialized SportClient and included informational logs for API responses, improving visibility into method execution and error management.
Sucan1262025-09-09 11:53:30 +08:00
21c5bc2573
Enhance logging in Controller class methods. Added checks for uninitialized ObstaclesAvoidClient and included informational logs for SwitchSet and SwitchGet API responses, improving error handling and visibility into state changes.
Sucan1262025-09-09 11:46:27 +08:00
55f4358401
Enhance logging in CustomRobot::processCmd method. Added an informational log statement to indicate the success of command processing, improving visibility into command execution outcomes.
Sucan1262025-09-09 11:42:36 +08:00
fb4ea73ec0
Enhance logging in CustomRobot::processOacCmd method. Added informational log statement to display the current switch state before toggling, improving visibility into command processing.
Sucan1262025-09-09 11:39:34 +08:00
b35395e543
Refactor command processing in CustomRobot class. Changed method name from processCommand to processCmd for improved consistency and clarity in MQTT message handling.
Sucan1262025-09-09 11:34:35 +08:00
347240026c
Refactor SwitchSet command handling in CustomRobot class. Updated logic to retrieve the current switch state before toggling, improving error handling and ensuring correct state management.
Sucan1262025-09-09 11:20:10 +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.
Sucan1262025-09-09 11:15:03 +08:00
cf58ad202a
Refactor MQTT callback function names for consistency. Changed MessageCallback and ConnectionCallback to MessageCb and ConnectionCb in mqtt.hpp, mqtt.cpp, and custom_robot.cpp to improve code clarity and maintainability.
Sucan1262025-09-09 09:56:13 +08:00
e7bfce9dcb
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.
Sucan1262025-09-08 20:11:08 +08:00
99ca9456c0
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.
Sucan1262025-09-08 20:02:14 +08:00
dec8b29c3c
Update RobotStateClient timeout to use float literal for consistency. This change ensures type correctness in the timeout setting within the CustomRobot initialization process.
Sucan1262025-09-08 19:58:26 +08:00
20dabdddee
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.
Sucan1262025-09-08 19:56:52 +08:00
e3c214ee1c
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.
Sucan1262025-09-08 19:55:56 +08:00
7a9a31afd4
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.
Sucan1262025-09-08 19:53:39 +08:00
c655cd8c91
Remove MQTT library requirement from CMakeLists.txt. This update simplifies the build configuration by eliminating unnecessary dependencies, streamlining the project setup.
Sucan1262025-09-08 18:52:28 +08:00
6a85d43c67
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.
Sucan1262025-09-08 18:51:58 +08:00
7f43d729a2
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.
Sucan1262025-09-08 18:50:46 +08:00
60a5490ec8
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.
Sucan1262025-09-08 18:38:37 +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.
Sucan1262025-09-08 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.
Sucan1262025-09-08 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.
Sucan1262025-09-07 20:20:34 +08:00
ecb4c602a1
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.
Sucan1262025-09-07 17:11:20 +08:00
6acff483dd
Add initial project structure with CMake configuration, source files, and README documentation for Unitree GO2 Custom Controller
Sucan1262025-09-07 16:43:22 +08:00
Sucan126