初始化项目，包含fast_lio_ws和unitree_sdk2

unitree_sdk2/example/state_machine/main.cpp

@@ -0,0 +1,60 @@
+#include <iostream>
+#include <sstream>
+#include <fstream>
+#include <string>
+#include <vector>
+#include <filesystem>
+#include <algorithm>
+#include <optional>
+#include <chrono>
+#include <iomanip>
+
+#include "robot_controller.hpp"
+#include "user_controller.hpp"
+#include "robot_interface.hpp"
+
+using namespace unitree::common;
+using namespace unitree::robot;
+
+namespace fs = std::filesystem;
+
+int main(int argc, char const *argv[])
+{
+    std::string param_folder;
+
+    // parse command line params
+    for (int i = 1; i < argc; ++i)
+    {
+        std::string arg = argv[i];
+
+        if (arg == "--param" && i + 1 < argc)
+        {
+            param_folder = argv[i + 1];
+        }
+    }
+    fs::path param = fs::current_path() / param_folder;
+
+    // log
+    auto now = std::chrono::system_clock::now();
+    auto time = std::chrono::system_clock::to_time_t(now);
+    std::stringstream ss;
+    ss << std::put_time(std::localtime(&time), "%Y_%m_%d_%H_%M_%S");
+
+    fs::path log_folder = fs::current_path() / "logs" / ss.str();
+    fs::create_directories(log_folder);
+
+    std::ofstream cfg_file(log_folder / "cfg.txt");
+    cfg_file << "param_folder: " << param << std::endl;
+    cfg_file.close();
+
+    fs::path log_file_name = log_folder / "log.txt";
+
+    RobotController<ExampleUserController> robot_controller(log_file_name);
+    robot_controller.LoadParam(param);
+
+    robot_controller.InitDdsModel();
+
+    robot_controller.StartControl();
+
+    return 0;
+}