AGV/config/webots/navigation_main.prototxt

main_agv:true
Agv_emqx
{
	NodeId:"agv-main"
	ip:"192.168.225.224"
	port:1883
	pubSpeedTopic:"MainPLC/speedcmd"
	subPoseTopic:"lidar_odom/main"
	subSpeedTopic:"MainPLC/speed"
}

Terminal_emqx
{
	NodeId:"agv-main-nav"
	ip:"192.168.225.224"
	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:"192.168.225.224"
	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
}