Add judgement of flag to decide whether load plugins and sensors by distribution or not

Gazebo_Distributed/gazebo/physics/Link.cc

@@ -103,6 +103,8 @@ void Link::Load(sdf::ElementPtr _sdf)
   }
 
   // Modified by zhangshuai 2019.04.02 ----Begin
+  if (this->GetWorld()->GetFlag() == 1)
+  {
     // Judge if the model to load is simulated in this gazebo
     for (unsigned int i = 0; i < this->GetWorld()->GetDistribution()->GetGazeboIDPtr(this->GetWorld()->GetGazeboLocalID())->GetModelCount(); i++)
     {
@@ -138,6 +140,36 @@ void Link::Load(sdf::ElementPtr _sdf)
         // Original part
       }
     }
+  }
+  else
+  {
+    if (this->sdf->HasElement("sensor"))
+    {
+      sdf::ElementPtr sensorElem = this->sdf->GetElement("sensor");
+      while (sensorElem)
+      {
+        /// \todo This if statement is a hack to prevent Links from creating
+        /// a force torque sensor. We should make this more generic.
+        if (sensorElem->Get<std::string>("type") == "force_torque")
+        {
+          gzerr << "A link cannot load a [" << sensorElem->Get<std::string>("type") << "] sensor.\n";
+        }
+        else if (sensorElem->Get<std::string>("type") != "__default__")
+        {
+          // This must match the implementation in Sensors::GetScopedName
+          std::string sensorName = this->GetScopedName(true) + "::" +
+                                   sensorElem->Get<std::string>("name");
+
+          // Tell the sensor library to create a sensor.
+          event::Events::createSensor(sensorElem,
+                                      this->GetWorld()->GetName(), this->GetScopedName(), this->GetId());
+
+          this->sensors.push_back(sensorName);
+        }
+        sensorElem = sensorElem->GetNextElement("sensor");
+      }
+    }
+  }
   // Modified by zhangshuai 2019.04.02 ----End
 
   // Load the lights

Gazebo_Distributed/gazebo/physics/World.cc

@@ -277,9 +277,9 @@ void World::Load(sdf::ElementPtr _sdf)
   {
     sdf::ElementPtr distributionElem = this->dataPtr->sdf->GetElement("distribution");
 
-    gazeboLocalID = distributionElem->Get<unsigned int>("gazebo_local_ID");
+    this->gazeboLocalID = distributionElem->Get<unsigned int>("gazebo_local_ID");
-    port = distributionElem->Get<int>("port");
+    this->port = distributionElem->Get<int>("port");
-    flag = distributionElem->Get<int>("flag");
+    this->flag = distributionElem->Get<int>("flag");
 
     std::cout << "================= gazebo_local_ID: " << gazeboLocalID << "\t Port: " << port << "\t Flag: " << flag << " =================" << std::endl;
 
@@ -454,7 +454,7 @@ void World::Run(unsigned int _iterations)
   this->dataPtr->stopIterations = _iterations;
 
   // Added by zhangshuai based on zenglei 2019.03.19 ----Begin
-  if (1 == flag)
+  if (1 == this->flag)
   {
     if (0 == this->gazeboLocalID)
     {
@@ -550,7 +550,7 @@ void World::RunLoop()
   }
 
   // Added by zhangshuai based on zenglei 2019.03.19 ----Begin
-  if (1 == flag)
+  if (1 == this->flag)
   {
     if (0 == this->gazeboLocalID)
     {
@@ -938,7 +938,7 @@ void World::Update()
   // Added by zhangshuai 2019.04.03 for count time ----End
 
   // Added by zhangshuai based on zenglei 2019.03.19 ----Begin
-  if (1 == flag)
+  if (1 == this->flag)
   {
     // if (this->dataPtr->iterations % 10 == 0)
     // Modified by zhangshuai 2019.04.02 ----Begin
@@ -2373,6 +2373,8 @@ void World::ProcessFactoryMsgs()
       {
         model->Init();
         // Modified by zhangshuai 2019.04.02 ----Begin
+        if (this->flag == 1)
+        {
           // Judge if the model to load is simulated in this gazebo
           for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount(); i++)
           {
@@ -2383,6 +2385,12 @@ void World::ProcessFactoryMsgs()
               // Original part
             }
           }
+        }
+        else
+        {
+          model->LoadPlugins();
+        }
+
         // Modified by zhangshuai 2019.04.02 ----End
       }
     }
@@ -3303,4 +3311,11 @@ unsigned int World::GetGazeboLocalID()
 {
   return this->gazeboLocalID;
 }
+
+//////////////////////////////////////////////////
+/// add for read the element of "flag"
+unsigned int World::GetFlag()
+{
+  return this->flag;
+}
 // Added by zhangshuai 2019.04.02 ----End

Gazebo_Distributed/gazebo/physics/World.hh

@@ -757,6 +757,9 @@ public:
 
 public:
   unsigned int GetGazeboLocalID();
+
+public:
+  unsigned int GetFlag();
   // Added by zhangshuai 2019.04.01 ----End
 };
 /// \}