feat: 初始化 Go2 导航相关代码与配置

unitree_sdk2/example/helloworld/HelloWorldData.cpp

@@ -0,0 +1,54 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: HelloWorldData.idl
+  Source: HelloWorldData.cpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#include "HelloWorldData.hpp"
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::HelloWorldData::Msg>() {
+  static thread_local std::mutex mtx;
+  static thread_local propvec props;
+  static thread_local entity_properties_t *props_end = nullptr;
+  static thread_local std::atomic_bool initialized {false};
+  key_endpoint keylist;
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  std::lock_guard<std::mutex> lock(mtx);
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  props.clear();
+
+  props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final));  //root
+  props.push_back(entity_properties_t(1, 0, false, get_bit_bound<int64_t>(), extensibility::ext_final, false));  //::userID
+  props.push_back(entity_properties_t(1, 1, false, bb_unset, extensibility::ext_final, false));  //::message
+
+  entity_properties_t::finish(props, keylist);
+  props_end = props.data() + props.size();
+  initialized.store(true, std::memory_order_release);
+  return props;
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+