AGV/config/webots/navigation_main.prototxt

main_agv:true
rpc_ipport:"127.0.0.1:9090"
Agv_emqx
{
	NodeId:"agv-main"
	ip:"192.168.2.179"
	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"
}

#连接后车的emqx
brother_emqx
{
	NodeId:"agv-brother-main"
	ip:"127.0.0.1"
	port:1883
	subBrotherStatuTopic:"agv_child/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
}