添加webots仿真配置

config/webots/navigation.prototxt

@@ -0,0 +1,46 @@
+
+
+main_agv:false
+Agv_emqx
+{
+	NodeId:"agv-Child"
+	ip:"127.0.0.1"
+	port:1883
+	pubSpeedTopic:"ChildPLC/speedcmd"
+	subPoseTopic:"lidar_odom/child"
+	subSpeedTopic:"ChildPLC/speed"
+}
+
+Terminal_emqx
+{
+	NodeId:"agv-child-nav"
+        ip:"127.0.0.1"
+        port:1883
+        pubStatuTopic:"agv_child/agv_statu"
+        pubNavStatuTopic:"agv_child/nav_statu"
+        subNavCmdTopic:"agv_child/nav_cmd"
+}
+
+#连接主PLC的emqx
+brother_emqx
+{
+	NodeId:"agv-brother-child"
+	ip:"127.0.0.1"
+	port:1883
+	subBrotherStatuTopic:"lidar_odom/main"
+}
+
+x_mpc_parameter
+{
+	shortest_radius:26
+	dt:0.1
+	acc_velocity:1.5
+	acc_angular:10
+}
+y_mpc_parameter
+{
+	shortest_radius:24.5
+	dt:0.1
+	acc_velocity:1.5
+	acc_angular:10
+}

config/webots/navigation_main.prototxt

@@ -0,0 +1,45 @@
+
+main_agv:true
+Agv_emqx
+{
+	NodeId:"agv-main"
+	ip:"127.0.0.1"
+	port:1883
+	pubSpeedTopic:"MainPLC/speedcmd"
+	subPoseTopic:"lidar_odom/main"
+	subSpeedTopic:"MainPLC/speed"
+}
+
+Terminal_emqx
+{
+	NodeId:"agv-main-nav"
+	ip:"127.0.0.1"
+	port:1883
+	pubStatuTopic:"agv_main/agv_statu"
+	pubNavStatuTopic:"agv_main/nav_statu"
+	subNavCmdTopic:"agv_main/nav_cmd"
+}
+
+#连接后车的emqx
+brother_emqx
+{
+	NodeId:"agv-brother-main"
+	ip:"127.0.0.1"
+	port:1883
+	subBrotherStatuTopic:"lidar_odom/child"
+}
+
+x_mpc_parameter
+{
+	shortest_radius:26
+	dt:0.1
+	acc_velocity:1.0
+	acc_angular:10
+}
+y_mpc_parameter
+{
+	shortest_radius:24.5
+	dt:0.1
+	acc_velocity:1.0
+	acc_angular:10
+}