feat: 初始化 Go2 导航相关代码与配置

unitree_sdk2/example/helloworld/subscriber.cpp

@@ -0,0 +1,45 @@
+#include <unitree/robot/channel/channel_subscriber.hpp>
+#include <unitree/common/time/time_tool.hpp>
+#include "HelloWorldData.hpp"
+
+#define TOPIC "TopicHelloWorld"
+
+using namespace unitree::robot;
+using namespace unitree::common;
+
+void Handler(const void* msg)
+{
+    const HelloWorldData::Msg* pm = (const HelloWorldData::Msg*)msg;
+
+    std::cout << "userID:" << pm->userID() << ", message:" << pm->message() << std::endl;
+}
+
+int main()
+{
+    ChannelFactory::Instance()->Init(0);
+    ChannelSubscriber<HelloWorldData::Msg> subscriber(TOPIC);
+    subscriber.InitChannel(Handler);
+
+    sleep(5);
+    subscriber.CloseChannel();
+
+    std::cout << "reseted. sleep 3" << std::endl;
+
+    sleep(3);
+    subscriber.InitChannel();
+
+    sleep(5);
+    subscriber.CloseChannel();
+
+    std::cout << "reseted. sleep 3" << std::endl;
+
+    sleep(3);
+    subscriber.InitChannel();
+
+    while (true)
+    {
+        sleep(10);
+    }
+
+    return 0;
+}