AGV/config/navigation_main.prototxt

main_agv:true
Agv_emqx
{
	NodeId:"agv-main"
	ip:"192.168.0.70"
	port:1883
	pubSpeedTopic:"monitor_child/speedcmd"
	subPoseTopic:"monitor_child/statu"
	subSpeedTopic:"monitor_child/speed"
}

Terminal_emqx
{
	NodeId:"agv-main-nav"
	ip:"192.168.0.70"
	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-main"
	ip:"192.168.0.71"
	port:1883
	subBrotherStatuTopic:"agv_child/nav_statu"
}

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
}

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