362 lines
13 KiB
Plaintext
362 lines
13 KiB
Plaintext
|
#!/bin/bash
|
||
|
|
#########################################################################
|
||
|
|
# Author: zhangshuai #
|
||
|
|
# Date: 2019.03.21 #
|
||
|
|
# Description: Automated generation of launch and world #
|
||
|
|
# Usage: ./Distributed_Gazebo configuration_file #
|
||
|
|
#########################################################################
|
||
|
|
|
||
|
|
configuration_file=$1
|
||
|
|
|
||
|
|
world="WORLD:"
|
||
|
|
node="GAZEBO_NODE:"
|
||
|
|
ip="GAZEBO_IP:"
|
||
|
|
port="SOCKET_PORT:"
|
||
|
|
hector="HECTOR_NAME:"
|
||
|
|
|
||
|
|
world_name=0
|
||
|
|
idex=(0 0)
|
||
|
|
id0=0
|
||
|
|
id1=1
|
||
|
|
node_0_hector_count=0
|
||
|
|
node_1_hector_count=0
|
||
|
|
gazebo_idex_count=0
|
||
|
|
# gazebo_count
|
||
|
|
# gazebo_id
|
||
|
|
# local_hector_
|
||
|
|
gazebo_param_0=(0 0)
|
||
|
|
gazebo_param_1=(0 0)
|
||
|
|
hector_node_0=(0)
|
||
|
|
hector_node_1=(0)
|
||
|
|
|
||
|
|
echo "begin"
|
||
|
|
|
||
|
|
while read line
|
||
|
|
do
|
||
|
|
if [[ $line =~ $world ]]
|
||
|
|
then
|
||
|
|
temp=${line#*\"}
|
||
|
|
temp=${temp%\"*}
|
||
|
|
world_name=$temp
|
||
|
|
echo ${temp}
|
||
|
|
fi
|
||
|
|
|
||
|
|
if [[ $line =~ $node ]]
|
||
|
|
then
|
||
|
|
temp=${line#*\"}
|
||
|
|
temp=${temp%\"*}
|
||
|
|
idex[gazebo_idex_count]=$temp
|
||
|
|
|
||
|
|
|
||
|
|
echo ${temp}
|
||
|
|
|
||
|
|
echo ${idex[gazebo_idex_count]}
|
||
|
|
echo "gazebo_idex_count:$gazebo_idex_count"
|
||
|
|
|
||
|
|
let gazebo_idex_count++
|
||
|
|
fi
|
||
|
|
|
||
|
|
if [[ $line =~ $ip ]]
|
||
|
|
then
|
||
|
|
temp=${line#*\"}
|
||
|
|
temp=${temp%\"*}
|
||
|
|
|
||
|
|
if [ "${idex[gazebo_idex_count-1]}" == "$id0" ]
|
||
|
|
then
|
||
|
|
gazebo_param_0[0]=$temp
|
||
|
|
# echo "gazebo_param_0[0]:${gazebo_param_0[0]}"
|
||
|
|
fi
|
||
|
|
if [ "${idex[gazebo_idex_count-1]}" == "$id1" ]
|
||
|
|
then
|
||
|
|
gazebo_param_1[0]=$temp
|
||
|
|
# echo "gazebo_param_1[0]:${gazebo_param_1[0]}"
|
||
|
|
fi
|
||
|
|
|
||
|
|
echo ${temp}
|
||
|
|
fi
|
||
|
|
|
||
|
|
if [[ $line =~ $port ]]
|
||
|
|
then
|
||
|
|
temp=${line#*\"}
|
||
|
|
temp=${temp%\"*}
|
||
|
|
|
||
|
|
if [ "${idex[gazebo_idex_count-1]}" == "$id0" ]
|
||
|
|
then
|
||
|
|
gazebo_param_0[1]=$temp
|
||
|
|
fi
|
||
|
|
if [ "${idex[gazebo_idex_count-1]}" == "$id1" ]
|
||
|
|
then
|
||
|
|
gazebo_param_1[1]=$temp
|
||
|
|
fi
|
||
|
|
|
||
|
|
echo ${temp}
|
||
|
|
fi
|
||
|
|
|
||
|
|
if [[ $line =~ $hector ]]
|
||
|
|
then
|
||
|
|
temp=${line#*\"}
|
||
|
|
temp=${temp%\"*}
|
||
|
|
|
||
|
|
if [ "${idex[gazebo_idex_count-1]}" == "$id0" ]
|
||
|
|
then
|
||
|
|
hector_node_0[node_0_hector_count]=$temp
|
||
|
|
let node_0_hector_count++
|
||
|
|
fi
|
||
|
|
if [ "${idex[gazebo_idex_count-1]}" == "$id1" ]
|
||
|
|
then
|
||
|
|
hector_node_1[node_1_hector_count]=$temp
|
||
|
|
let node_1_hector_count++
|
||
|
|
fi
|
||
|
|
|
||
|
|
echo ${temp}
|
||
|
|
fi
|
||
|
|
|
||
|
|
done < $configuration_file
|
||
|
|
|
||
|
|
|
||
|
|
echo "end"
|
||
|
|
# echo ${gazebo_param_0[0]}
|
||
|
|
# echo ${gazebo_param_0[1]}
|
||
|
|
# echo ${gazebo_param_1[0]}
|
||
|
|
# echo ${gazebo_param_1[1]}
|
||
|
|
# echo ${hector_node_0[0]}
|
||
|
|
# echo ${hector_node_0[1]}
|
||
|
|
# echo ${hector_node_1[0]}
|
||
|
|
# echo ${hector_node_1[1]}
|
||
|
|
echo "node0:${node_0_hector_count}"
|
||
|
|
echo "node1:${node_1_hector_count}"
|
||
|
|
|
||
|
|
file="var/log/messages"
|
||
|
|
echo "${file#*/}"
|
||
|
|
echo "${file##*/}"
|
||
|
|
|
||
|
|
|
||
|
|
# 开始写文件
|
||
|
|
launch_file=(0 0)
|
||
|
|
world_file=(0 0)
|
||
|
|
# node_0的launch文件
|
||
|
|
launch_file[0]="src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_node_0_${node_0_hector_count}_${node_1_hector_count}.launch"
|
||
|
|
if [ -f ${launch_file[0]} ]
|
||
|
|
then
|
||
|
|
`rm -rf ${launch_file[0]}`
|
||
|
|
fi
|
||
|
|
`touch ${launch_file[0]}`
|
||
|
|
|
||
|
|
# node_1的launch文件
|
||
|
|
launch_file[1]="src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_node_1_${node_0_hector_count}_${node_1_hector_count}.launch"
|
||
|
|
if [ -f ${launch_file[1]} ]
|
||
|
|
then
|
||
|
|
`rm -rf ${launch_file[1]}`
|
||
|
|
fi
|
||
|
|
`touch ${launch_file[1]}`
|
||
|
|
|
||
|
|
# node_0的world文件
|
||
|
|
world_file[0]="src/hector_quadrotor/hector_quadrotor_gazebo/worlds/${world_name}_node_0.world"
|
||
|
|
if [ -f ${world_file[0]} ]
|
||
|
|
then
|
||
|
|
`rm -rf ${world_file[0]}`
|
||
|
|
fi
|
||
|
|
`touch ${world_file[0]}`
|
||
|
|
|
||
|
|
# node_1的world文件
|
||
|
|
world_file[1]="src/hector_quadrotor/hector_quadrotor_gazebo/worlds/${world_name}_node_1.world"
|
||
|
|
if [ -f ${world_file[1]} ]
|
||
|
|
then
|
||
|
|
`rm -rf ${world_file[1]}`
|
||
|
|
fi
|
||
|
|
`touch ${world_file[1]}`
|
||
|
|
|
||
|
|
# 写world文件
|
||
|
|
for((i=0;i<$gazebo_idex_count;i++))
|
||
|
|
do
|
||
|
|
echo "<?xml version=\"1.0\" ?>" >> ${world_file[i]}
|
||
|
|
echo "<sdf version=\"1.4\">" >> ${world_file[i]}
|
||
|
|
echo " <world name=\"default\">" >> ${world_file[i]}
|
||
|
|
echo "" >> ${world_file[i]}
|
||
|
|
echo " <!-- A global light source -->" >> ${world_file[i]}
|
||
|
|
echo " <include>" >> ${world_file[i]}
|
||
|
|
echo " <uri>model://sun</uri>" >> ${world_file[i]}
|
||
|
|
echo " </include>" >> ${world_file[i]}
|
||
|
|
echo "" >> ${world_file[i]}
|
||
|
|
echo " <include>" >> ${world_file[i]}
|
||
|
|
echo " <uri>model://${world_name}</uri>" >> ${world_file[i]}
|
||
|
|
echo " <pose>0 0 0 0 0 0</pose>" >> ${world_file[i]}
|
||
|
|
echo " </include>" >> ${world_file[i]}
|
||
|
|
echo "" >> ${world_file[i]}
|
||
|
|
echo " <scene>" >> ${world_file[i]}
|
||
|
|
echo " <ambient>0.68 0.68 0.68 1.0</ambient>" >> ${world_file[i]}
|
||
|
|
echo " <sky>" >> ${world_file[i]}
|
||
|
|
echo " <sunrise/>" >> ${world_file[i]}
|
||
|
|
echo " <clouds>" >> ${world_file[i]}
|
||
|
|
echo " <speed>0</speed>" >> ${world_file[i]}
|
||
|
|
echo " </clouds>" >> ${world_file[i]}
|
||
|
|
echo " </sky>" >> ${world_file[i]}
|
||
|
|
echo " </scene>" >> ${world_file[i]}
|
||
|
|
echo "" >> ${world_file[i]}
|
||
|
|
|
||
|
|
tmp_int=$i
|
||
|
|
if [ "$tmp_int" == "$id0" ]
|
||
|
|
then
|
||
|
|
echo " <distributed type=$i ip=\"${gazebo_param_1[0]}\" port=${gazebo_param_1[1]} simula_entity_num=${node_0_hector_count} shadow_entity_num=${node_1_hector_count} flag=1 />" >> ${world_file[i]}
|
||
|
|
fi
|
||
|
|
if [ "$tmp_int" == "$id1" ]
|
||
|
|
then
|
||
|
|
echo " <distributed type=$i ip=\"${gazebo_param_0[0]}\" port=${gazebo_param_0[1]} simula_entity_num=${node_1_hector_count} shadow_entity_num=${node_0_hector_count} flag=1 />" >> ${world_file[i]}
|
||
|
|
fi
|
||
|
|
|
||
|
|
echo "" >> ${world_file[i]}
|
||
|
|
echo " <physics type="ode" name="ode">" >> ${world_file[i]}
|
||
|
|
echo " <real_time_update_rate>0</real_time_update_rate>" >> ${world_file[i]}
|
||
|
|
echo " <max_step_size>0.001</max_step_size>" >> ${world_file[i]}
|
||
|
|
echo " <real_time_factor>0</real_time_factor>" >> ${world_file[i]}
|
||
|
|
echo " </physics>" >> ${world_file[i]}
|
||
|
|
echo "" >> ${world_file[i]}
|
||
|
|
echo " </world>" >> ${world_file[i]}
|
||
|
|
echo "</sdf>" >> ${world_file[i]}
|
||
|
|
done
|
||
|
|
|
||
|
|
# 写launch文件
|
||
|
|
for((i=0;i<$gazebo_idex_count;i++))
|
||
|
|
do
|
||
|
|
|
||
|
|
echo "<!-- This is a launch file that runs the bare minimum requirements to get -->" >> ${launch_file[i]}
|
||
|
|
echo "<!-- gazebo running for a fixed-wing aircraft -->" >> ${launch_file[i]}
|
||
|
|
echo "" >> ${launch_file[i]}
|
||
|
|
echo "<launch>" >> ${launch_file[i]}
|
||
|
|
echo "" >> ${launch_file[i]}
|
||
|
|
echo " <include file=\"\$(find gazebo_ros)/launch/empty_world.launch\">" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"paused\" value=\"true\"/>" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"gui\" value=\"true\"/>" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"verbose\" value=\"false\"/>" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"debug\" value=\"false\"/>" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"world_name\" value=\"\$(find hector_quadrotor_gazebo)/worlds/${world_file[i]##*/}\"/>" >> ${launch_file[i]}
|
||
|
|
echo " </include>" >> ${launch_file[i]}
|
||
|
|
echo "" >> ${launch_file[i]}
|
||
|
|
|
||
|
|
x=0
|
||
|
|
y=0
|
||
|
|
t_x=0
|
||
|
|
t_y=0
|
||
|
|
# tmp0=$node_0_hector_count+$node_1_hector_count
|
||
|
|
# tmp1=$node_1_hector_count
|
||
|
|
|
||
|
|
tmp_int=$i
|
||
|
|
|
||
|
|
if [ "$tmp_int" == "$id0" ]
|
||
|
|
then
|
||
|
|
while [ $x -lt $(($node_0_hector_count + $node_1_hector_count)) ]
|
||
|
|
do
|
||
|
|
|
||
|
|
for((j=0;j<$node_0_hector_count;j++))
|
||
|
|
do
|
||
|
|
if [ $y -eq 10 ]
|
||
|
|
then
|
||
|
|
let t_y=0
|
||
|
|
let t_x=t_x+5
|
||
|
|
fi
|
||
|
|
|
||
|
|
echo " <group ns=\"${hector_node_0[j]}\">" >> ${launch_file[i]}
|
||
|
|
echo " <include file=\"\$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch\">" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"name\" value=\"${hector_node_0[j]}\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"model\" value=\"\$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro\"/>" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"tf_prefix\" value=\"${hector_node_0[j]}\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"x\" value=\"$t_x\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"y\" value=\"$t_y\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"z\" value=\"0.186\" />" >> ${launch_file[i]}
|
||
|
|
echo " </include>" >> ${launch_file[i]}
|
||
|
|
echo " </group>" >> ${launch_file[i]}
|
||
|
|
echo "" >> ${launch_file[i]}
|
||
|
|
|
||
|
|
let t_y=t_y+5
|
||
|
|
let y++;
|
||
|
|
let x++;
|
||
|
|
done
|
||
|
|
|
||
|
|
for((j=0;j<$node_1_hector_count;j++))
|
||
|
|
do
|
||
|
|
if [ $y -eq 10 ]
|
||
|
|
then
|
||
|
|
let t_y=0
|
||
|
|
let t_x=t_x+5
|
||
|
|
fi
|
||
|
|
|
||
|
|
echo " <group ns=\"${hector_node_1[j]}\">" >> ${launch_file[i]}
|
||
|
|
echo " <include file=\"\$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_shadow.launch\">" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"name\" value=\"${hector_node_1[j]}\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"model\" value=\"\$(find hector_quadrotor_description)/urdf/quadrotor_shadow.gazebo.xacro\"/>" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"tf_prefix\" value=\"${hector_node_1[j]}\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"x\" value=\"$t_x\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"y\" value=\"$t_y\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"z\" value=\"0.186\" />" >> ${launch_file[i]}
|
||
|
|
echo " </include>" >> ${launch_file[i]}
|
||
|
|
echo " </group>" >> ${launch_file[i]}
|
||
|
|
echo "" >> ${launch_file[i]}
|
||
|
|
|
||
|
|
let t_y=t_y+5
|
||
|
|
let y++;
|
||
|
|
let x++;
|
||
|
|
done
|
||
|
|
done
|
||
|
|
fi
|
||
|
|
if [ "$tmp_int" == "$id1" ]
|
||
|
|
then
|
||
|
|
while [ $x -lt 4 ]
|
||
|
|
do
|
||
|
|
|
||
|
|
for((j=0;j<$node_0_hector_count;j++))
|
||
|
|
do
|
||
|
|
if [ $y -eq 10 ]
|
||
|
|
then
|
||
|
|
let t_y=0
|
||
|
|
let t_x=t_x+5
|
||
|
|
fi
|
||
|
|
|
||
|
|
echo " <group ns=\"${hector_node_0[j]}\">" >> ${launch_file[i]}
|
||
|
|
echo " <include file=\"\$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_shadow.launch\">" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"name\" value=\"${hector_node_0[j]}\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"model\" value=\"\$(find hector_quadrotor_description)/urdf/quadrotor_shadow.gazebo.xacro\"/>" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"tf_prefix\" value=\"${hector_node_0[j]}\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"x\" value=\"$t_x\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"y\" value=\"$t_y\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"z\" value=\"0.186\" />" >> ${launch_file[i]}
|
||
|
|
echo " </include>" >> ${launch_file[i]}
|
||
|
|
echo " </group>" >> ${launch_file[i]}
|
||
|
|
echo "" >> ${launch_file[i]}
|
||
|
|
|
||
|
|
let t_y=t_y+5
|
||
|
|
let y++;
|
||
|
|
let x++;
|
||
|
|
done
|
||
|
|
|
||
|
|
for((j=0;j<$node_1_hector_count;j++))
|
||
|
|
do
|
||
|
|
if [ $y -eq 10 ]
|
||
|
|
then
|
||
|
|
let t_y=0
|
||
|
|
let t_x=t_x+5
|
||
|
|
fi
|
||
|
|
|
||
|
|
echo " <group ns=\"${hector_node_1[j]}\">" >> ${launch_file[i]}
|
||
|
|
echo " <include file=\"\$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch\">" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"name\" value=\"${hector_node_1[j]}\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"model\" value=\"\$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro\"/>" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"tf_prefix\" value=\"${hector_node_1[j]}\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"x\" value=\"$t_x\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"y\" value=\"$t_y\" />" >> ${launch_file[i]}
|
||
|
|
echo " <arg name=\"z\" value=\"0.186\" />" >> ${launch_file[i]}
|
||
|
|
echo " </include>" >> ${launch_file[i]}
|
||
|
|
echo " </group>" >> ${launch_file[i]}
|
||
|
|
echo "" >> ${launch_file[i]}
|
||
|
|
|
||
|
|
let t_y=t_y+5
|
||
|
|
let y++;
|
||
|
|
let x++;
|
||
|
|
done
|
||
|
|
done
|
||
|
|
fi
|
||
|
|
|
||
|
|
echo " <node name=\"simple_takeoff\" pkg=\"hector\" type=\"hector_simple_takeoff\"/>" >> ${launch_file[i]}
|
||
|
|
echo "" >> ${launch_file[i]}
|
||
|
|
echo "</launch>" >> ${launch_file[i]}
|
||
|
|
done
|