main_agv:false
rpc_ipport:"192.168.0.100:9091"
Agv_emqx
{
	NodeId:"agv-Child"
	ip:"192.168.0.100"
	port:1883
	pubSpeedTopic:"ChildPLC/speedcmd"
	subPoseTopic:"lidar_odom/child"
	subSpeedTopic:"ChildPLC/speed"
}

Terminal_emqx
{
	NodeId:"agv-child-nav"
        ip:"192.168.0.100"
        port:1883
        pubStatuTopic:"agv_child/agv_statu"
        pubNavStatuTopic:"agv_child/nav_statu"
}

#连接主PLC的emqx
brother_emqx
{
	NodeId:"agv-brother-child"
	ip:"192.168.0.100"
	port:1883
	subBrotherStatuTopic:"agv_main/nav_statu"
}

x_mpc_parameter
{
	shortest_radius:26
	dt:0.1
	acc_velocity:2.0
	acc_angular:10
}
y_mpc_parameter
{
	shortest_radius:24.5
	dt:0.1
	acc_velocity:2.0
	acc_angular:10
}

InOutVLimit
{
    min:0.03
    max:0.5
}
NodeVelocityLimit
{
    min:0.03
    max:1.5
}
NodeAngularLimit
{
    min:0.0523
    max:0.4
}