1. MPI_Iallgatherv, version 0.6.3

2. modify non-blocking MPI communication
3. add 32(30-2) hectors case
3. add scripts for single machine MPI Gazebo start and end

Gazebo_Distributed_MPI/gazebo/physics/World.cc

@@ -106,6 +106,7 @@ double before_updatePhysicsTime = 0; // little
 double updatePhysicsTime = 0;
 double before_mpiTime = 0;
 double barrierTime = 0;
+double waitTime = 0;
 double mpiTime = 0;
 double after_mpiTime = 0;
 double wholeUpdataTime = 0;
@@ -119,6 +120,7 @@ double before_updatePhysicsTime2 = 0;
 double updatePhysicsTime2 = 0;
 double before_mpiTime2 = 0;
 double barrierTime2 = 0;
+double waitTime2 = 0;
 double mpiTime2 = 0;
 double after_mpiTime2 = 0;
 double wholeUpdataTime2 = 0;
@@ -851,73 +853,76 @@ void World::Update()
 
   DIAG_TIMER_LAP("World::Update", "Events::worldUpdateBegin");
 
-  //   // Added by zhangshuai 2019.10.24 for non-block MPI communication----Begin
+  // Added by zhangshuai 2019.10.24 for non-block MPI communication----Begin
-  //   if (1 == this->flag && this->mpi_flag == true)
+  if (1 == this->flag && this->mpi_flag == true)
-  //   {
+  {
 
-  //     // Added by zhangshuai 2019.04.03 for count time ----Begin
+    // Added by zhangshuai 2019.04.03 for count time ----Begin
-  // #ifdef USE_COUNT_TIME
+#ifdef USE_COUNT_TIME
-  //     gettimeofday(&tv, NULL);
+    gettimeofday(&tv, NULL);
-  //     cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
+    cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
-  // #endif
+#endif
 
-  //     // MPI_Barrier(MPI_COMM_WORLD);
+    MPI_Barrier(MPI_COMM_WORLD);
 
-  //     // MPI_Wait(&request, &status);
+    // Added by zhangshuai 2019.04.03 for count time ----Begin
+#ifdef USE_COUNT_TIME
+    gettimeofday(&tv, NULL);
+    barrierTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
+#endif
 
-  //     int test_flag;
+    // Added by zhangshuai 2019.04.03 for count time ----Begin
-  //     MPI_Test(&request, &test_flag, &status);
+#ifdef USE_COUNT_TIME
-  //     while (test_flag == false)
+    gettimeofday(&tv, NULL);
-  //     {
+    cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
-  //       std::cout << "MPI_Test flag : false" << std::endl;
+#endif
-  //       MPI_Test(&request, &test_flag, &status);
-  //     }
 
-  //     // Added by zhangshuai 2019.04.03 for count time ----Begin
+    MPI_Wait(&request, &status);
-  // #ifdef USE_COUNT_TIME
+    // MPI_Wait(&request, MPI_STATUS_IGNORE);
-  //     gettimeofday(&tv, NULL);
-  //     barrierTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
-  // #endif
 
-  //     // MPI_Barrier(MPI_COMM_WORLD);
+    // Added by zhangshuai 2019.04.03 for count time ----Begin
+#ifdef USE_COUNT_TIME
+    gettimeofday(&tv, NULL);
+    waitTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
+#endif
 
-  //     // Added by zhangshuai 2019.04.03 for count time ----Begin
+    // Added by zhangshuai 2019.04.03 for count time ----Begin
-  // #ifdef USE_COUNT_TIME
+#ifdef USE_COUNT_TIME
-  //     gettimeofday(&tv, NULL);
+    gettimeofday(&tv, NULL);
-  //     cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
+    cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
-  // #endif
+#endif
-  //     // Added by zhangshuai 2019.04.03 for count time ----End
+    // Added by zhangshuai 2019.04.03 for count time ----End
 
-  //     //receive and get information from other processes
+    //receive and get information from other processes
-  //     int tmp_gazebo_count = this->distribution->GetGazeboCount();
+    int tmp_gazebo_count = this->distribution->GetGazeboCount();
-  //     for (int tmp_gazebo_id = 0; tmp_gazebo_id < tmp_gazebo_count; tmp_gazebo_id++)
+    for (int tmp_gazebo_id = 0; tmp_gazebo_id < tmp_gazebo_count; tmp_gazebo_id++)
-  //     {
+    {
-  //       if (this->gazeboLocalID != tmp_gazebo_id)
+      if (this->gazeboLocalID != tmp_gazebo_id)
-  //       {
+      {
-  //         unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
+        unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
-  //         CommunicationData *tmpBufferData = new CommunicationData[tmp_model_count];
+        CommunicationData *tmpBufferData = new CommunicationData[tmp_model_count];
 
-  //         memcpy(tmpBufferData, (receiveBuffer + this->displs[tmp_gazebo_id]), this->bufferLen[tmp_gazebo_id]);
+        memcpy(tmpBufferData, (receiveBuffer + this->displs[tmp_gazebo_id]), this->bufferLen[tmp_gazebo_id]);
 
-  //         for (unsigned int i = 0; i < tmp_model_count; i++)
+        for (unsigned int i = 0; i < tmp_model_count; i++)
-  //         {
+        {
-  //           // this->GetModel(tmp_model_name)->GetLink("canonical")->SetWorldPose(tmpBufferData[i].model_pose); // reserve
+          // this->GetModel(tmp_model_name)->GetLink("canonical")->SetWorldPose(tmpBufferData[i].model_pose); // reserve
 
-  //           // this->GetModelById(this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelID(i))->SetWorldPose(tmpBufferData[i].model_pose);
+          // this->GetModelById(this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelID(i))->SetWorldPose(tmpBufferData[i].model_pose);
-  //           this->GetModelById(this->worldModelIDs_V[tmp_gazebo_id][i])->SetWorldPose(tmpBufferData[i].model_pose);
+          this->GetModelById(this->worldModelIDs_V[tmp_gazebo_id][i])->SetWorldPose(tmpBufferData[i].model_pose);
-  //         }
+        }
 
-  //         delete[] tmpBufferData;
+        delete[] tmpBufferData;
-  //       }
+      }
-  //     }
+    }
-  //     // Added by zhangshuai 2019.04.03 for count time ----Begin
+    // Added by zhangshuai 2019.04.03 for count time ----Begin
-  // #ifdef USE_COUNT_TIME
+#ifdef USE_COUNT_TIME
-  //     gettimeofday(&tv, NULL);
+    gettimeofday(&tv, NULL);
-  //     after_mpiTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
+    after_mpiTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
-  // #endif
+#endif
-  //     // Added by zhangshuai 2019.04.03 for count time ----End
+    // Added by zhangshuai 2019.04.03 for count time ----End
-  //   }
+  }
-  //   // Added by zhangshuai 2019.10.24 for non-block MPI communication ----End
+  // Added by zhangshuai 2019.10.24 for non-block MPI communication ----End
 
   // Added by zhangshuai 2019.04.03 for count time ----Begin
 #ifdef USE_COUNT_TIME
@@ -1099,8 +1104,6 @@ void World::Update()
     MPI_Iallgatherv(this->sendBuffer, this->sendBufferLen, MPI_CHAR, this->receiveBuffer, this->bufferLen, this->displs, MPI_CHAR, MPI_COMM_WORLD, &request);
     // MPI_Allgatherv(this->sendBuffer, this->sendBufferLen, MPI_CHAR, this->receiveBuffer, this->bufferLen, this->displs, MPI_CHAR, MPI_COMM_WORLD);
 
-    // MPI_Barrier(MPI_COMM_WORLD);
-
     // Added by zhangshuai 2019.04.03 for count time ----Begin
 #ifdef USE_COUNT_TIME
     gettimeofday(&tv, NULL);
@@ -1108,71 +1111,72 @@ void World::Update()
 #endif
     // Added by zhangshuai 2019.04.03 for count time ----End
 
-    // this->mpi_flag = true;
+    this->mpi_flag = true;
 
-    gazebo::common::Time::NSleep(200000);
+    //     // Added by zhangshuai 2019.04.03 for count time ----Begin
+    // #ifdef USE_COUNT_TIME
+    //     gettimeofday(&tv, NULL);
+    //     cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
+    // #endif
 
-    // Added by zhangshuai 2019.04.03 for count time ----Begin
+    //     MPI_Barrier(MPI_COMM_WORLD);
-#ifdef USE_COUNT_TIME
-    gettimeofday(&tv, NULL);
-    cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
-#endif
 
-    // MPI_Barrier(MPI_COMM_WORLD);
+    //     // Added by zhangshuai 2019.04.03 for count time ----Begin
+    // #ifdef USE_COUNT_TIME
+    //     gettimeofday(&tv, NULL);
+    //     barrierTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
+    // #endif
 
-    MPI_Wait(&request, &status);
+    //     // Added by zhangshuai 2019.04.03 for count time ----Begin
+    // #ifdef USE_COUNT_TIME
+    //     gettimeofday(&tv, NULL);
+    //     cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
+    // #endif
 
-    // int test_flag;
+    //     MPI_Wait(&request, &status);
-    // MPI_Test(&request, &test_flag, &status);
+    //     // MPI_Wait(&request, MPI_STATUS_IGNORE);
-    // while (test_flag == false)
-    // {
-    //   std::cout << "MPI_Test flag : false" << std::endl;
-    //   MPI_Test(&request, &test_flag, &status);
-    // }
 
-    // Added by zhangshuai 2019.04.03 for count time ----Begin
+    //     // Added by zhangshuai 2019.04.03 for count time ----Begin
-#ifdef USE_COUNT_TIME
+    // #ifdef USE_COUNT_TIME
-    gettimeofday(&tv, NULL);
+    //     gettimeofday(&tv, NULL);
-    barrierTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
+    //     waitTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
-#endif
+    // #endif
 
-    // MPI_Barrier(MPI_COMM_WORLD);
+    //     // Added by zhangshuai 2019.04.03 for count time ----Begin
+    // #ifdef USE_COUNT_TIME
+    //     gettimeofday(&tv, NULL);
+    //     cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
+    // #endif
+    //     // Added by zhangshuai 2019.04.03 for count time ----End
 
-    // Added by zhangshuai 2019.04.03 for count time ----Begin
+    //     //receive and get information from other processes
-#ifdef USE_COUNT_TIME
+    //     int tmp_gazebo_count = this->distribution->GetGazeboCount();
-    gettimeofday(&tv, NULL);
+    //     for (int tmp_gazebo_id = 0; tmp_gazebo_id < tmp_gazebo_count; tmp_gazebo_id++)
-    cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
+    //     {
-#endif
+    //       if (this->gazeboLocalID != tmp_gazebo_id)
-    // Added by zhangshuai 2019.04.03 for count time ----End
+    //       {
+    //         unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
+    //         CommunicationData *tmpBufferData = new CommunicationData[tmp_model_count];
 
-    //receive and get information from other processes
+    //         memcpy(tmpBufferData, (receiveBuffer + this->displs[tmp_gazebo_id]), this->bufferLen[tmp_gazebo_id]);
-    int tmp_gazebo_count = this->distribution->GetGazeboCount();
-    for (int tmp_gazebo_id = 0; tmp_gazebo_id < tmp_gazebo_count; tmp_gazebo_id++)
-    {
-      if (this->gazeboLocalID != tmp_gazebo_id)
-      {
-        unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
-        CommunicationData *tmpBufferData = new CommunicationData[tmp_model_count];
 
-        memcpy(tmpBufferData, (receiveBuffer + this->displs[tmp_gazebo_id]), this->bufferLen[tmp_gazebo_id]);
+    //         for (unsigned int i = 0; i < tmp_model_count; i++)
+    //         {
+    //           // this->GetModel(tmp_model_name)->GetLink("canonical")->SetWorldPose(tmpBufferData[i].model_pose); // reserve
 
-        for (unsigned int i = 0; i < tmp_model_count; i++)
+    //           // this->GetModelById(this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelID(i))->SetWorldPose(tmpBufferData[i].model_pose);
-        {
+    //           this->GetModelById(this->worldModelIDs_V[tmp_gazebo_id][i])->SetWorldPose(tmpBufferData[i].model_pose);
-          // this->GetModel(tmp_model_name)->GetLink("canonical")->SetWorldPose(tmpBufferData[i].model_pose); // reserve
+    //         }
 
-          // this->GetModelById(this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelID(i))->SetWorldPose(tmpBufferData[i].model_pose);
+    //         delete[] tmpBufferData;
-          this->GetModelById(this->worldModelIDs_V[tmp_gazebo_id][i])->SetWorldPose(tmpBufferData[i].model_pose);
+    //       }
-        }
+    //     }
-
+    //     // Added by zhangshuai 2019.04.03 for count time ----Begin
-        delete[] tmpBufferData;
+    // #ifdef USE_COUNT_TIME
-      }
+    //     gettimeofday(&tv, NULL);
-    }
+    //     after_mpiTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
-    // Added by zhangshuai 2019.04.03 for count time ----Begin
+    // #endif
-#ifdef USE_COUNT_TIME
+    //     // Added by zhangshuai 2019.04.03 for count time ----End
-    gettimeofday(&tv, NULL);
-    after_mpiTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
-#endif
-    // Added by zhangshuai 2019.04.03 for count time ----End
   }
   // Added by zhangshuai 2019.04.23 for MPI communication ----End
 
@@ -1208,6 +1212,7 @@ void World::Update()
     updatePhysicsTime2 = updatePhysicsTime;
     before_mpiTime2 = before_mpiTime;
     barrierTime2 = barrierTime;
+    waitTime2 = waitTime;
     mpiTime2 = mpiTime;
     after_mpiTime2 = after_mpiTime;
     wholeUpdataTime2 = wholeUpdataTime;
@@ -1227,6 +1232,7 @@ void World::Update()
     double ave_updateCollisionTime = (updateCollisionTime - updateCollisionTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
     double ave_updatePhysicsTime = (updatePhysicsTime - updatePhysicsTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
     double ave_barrierTime = (barrierTime - barrierTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
+    double ave_waitTime = (waitTime - waitTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
     double ave_before_mpiTime = (before_mpiTime - before_mpiTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
     double ave_mpiTime = (mpiTime - mpiTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
     double ave_after_mpiTime = (after_mpiTime - after_mpiTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations);
@@ -1237,6 +1243,7 @@ void World::Update()
     double perce_updateCollisionTime = (ave_updateCollisionTime / ave_wholeStepTime) * 100;
     double perce_updatePhysicsTime = (ave_updatePhysicsTime / ave_wholeStepTime) * 100;
     double perce_barrierTime = (ave_barrierTime / ave_wholeStepTime) * 100;
+    double perce_waitTime = (ave_waitTime / ave_wholeStepTime) * 100;
     double perce_wholeMpiTime = (ave_wholeMpiTime / ave_wholeStepTime) * 100;
     double perce_othersTime = (ave_othersTime / ave_wholeStepTime) * 100;
 
@@ -1250,36 +1257,31 @@ void World::Update()
     std::cout << "***************************************************************************" << std::endl;
     std::cout << "===== average worldUpdateBeginTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_worldUpdateBeginTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_worldUpdateBeginTime << "%)"
               << "\tms =====\t" << this->gazeboLocalID << std::endl;
-    std::cout << "===== average updateCollisionTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_updateCollisionTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_updateCollisionTime << "%)"
+    std::cout << "===== average updateCollisionTime :\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_updateCollisionTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_updateCollisionTime << "%)"
               << "\tms =====\t" << this->gazeboLocalID << std::endl;
-    std::cout << "===== average updatePhysicsTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_updatePhysicsTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_updatePhysicsTime << "%)"
+    std::cout << "===== average updatePhysicsTime   :\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_updatePhysicsTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_updatePhysicsTime << "%)"
               << "\tms =====\t" << this->gazeboLocalID << std::endl;
-    std::cout << "===== average barrierTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_barrierTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_barrierTime << "%)"
+    std::cout << "===== average barrierTime         :\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_barrierTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_barrierTime << "%)"
               << "\tms =====\t" << this->gazeboLocalID << std::endl;
-    std::cout << "===== average wholeMpiTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_wholeMpiTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_wholeMpiTime << "%)"
+    std::cout << "===== average waitTime            :\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_waitTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_waitTime << "%)"
               << "\tms =====\t" << this->gazeboLocalID << std::endl;
-    std::cout << "===== average othersTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_othersTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_othersTime << "%)"
+    std::cout << "===== average wholeMpiTime        :\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_wholeMpiTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_wholeMpiTime << "%)"
               << "\tms =====\t" << this->gazeboLocalID << std::endl;
-    std::cout << "===== average wholeStepTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_wholeStepTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << 100.0 << "%)"
+    std::cout << "===== average othersTime          :\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_othersTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_othersTime << "%)"
               << "\tms =====\t" << this->gazeboLocalID << std::endl;
-    std::cout << "===== average RTF:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(3) << ave_RTF << "\t =====\t" << this->gazeboLocalID << std::endl;
+    std::cout << "===== average wholeStepTime       :\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_wholeStepTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << 100.0 << "%)"
+              << "\tms =====\t" << this->gazeboLocalID << std::endl;
+    std::cout << "===== average RTF                 :\t" << std::setiosflags(std::ios::fixed) << std::setprecision(3) << ave_RTF << "\t =====\t" << this->gazeboLocalID << std::endl;
 
     std::cout << "---------------------------------------------------------------------------" << std::endl;
-    std::cout << "===== average before_mpiTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_before_mpiTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_before_mpiTime << "%)"
+    std::cout << "===== average before_mpiTime      :\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_before_mpiTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_before_mpiTime << "%)"
               << "\tms =====\t" << this->gazeboLocalID << std::endl;
-    std::cout << "===== average mpiTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_mpiTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_mpiTime << "%)"
+    std::cout << "===== average mpiTime             :\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_mpiTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_mpiTime << "%)"
               << "\tms =====\t" << this->gazeboLocalID << std::endl;
-    std::cout << "===== average after_mpiTime:\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_after_mpiTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_after_mpiTime << "%)"
+    std::cout << "===== average after_mpiTime       :\t" << std::setiosflags(std::ios::fixed) << std::setprecision(4) << ave_after_mpiTime << " (" << std::setiosflags(std::ios::fixed) << std::setprecision(2) << perce_after_mpiTime << "%)"
               << "\tms =====\t" << this->gazeboLocalID << std::endl;
     std::cout << "***************************************************************************" << std::endl;
 
-    // std::cout << "===== average before_worldUpdateBeginTime:\t" << (before_worldUpdateBeginTime - before_worldUpdateBeginTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl;
-    // std::cout << "===== average modelUpdateFuncTime:\t" << (modelUpdateFuncTime - modelUpdateFuncTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl;
-    // std::cout << "===== average loggingTime:\t" << (loggingTime - loggingTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl;
-    // std::cout << "===== average before_updatePhysicsTime:\t" << (before_updatePhysicsTime - before_updatePhysicsTime2) * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl;
-    // double wholeAddTime = before_worldUpdateBeginTime + worldUpdateBeginTime + modelUpdateFuncTime + updateCollisionTime + loggingTime + before_updatePhysicsTime + updatePhysicsTime + before_mpiTime + mpiTime + after_mpiTime - (before_worldUpdateBeginTime2 + worldUpdateBeginTime2 + modelUpdateFuncTime2 + updateCollisionTime2 + loggingTime2 + before_updatePhysicsTime2 + updatePhysicsTime2 + before_mpiTime2 + mpiTime2 + after_mpiTime2);
-    // std::cout << "===== average wholeAddTime:\t" << wholeAddTime * 1000.0 / (this->dataPtr->iterations - start_iterations) << "\tms =====\t" << this->gazeboLocalID << std::endl;
-
     // }
 
     // // test for worldModelIDs_V Begin 2019.10.24

Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_pause.sh

@@ -0,0 +1,12 @@
+#!/bin/bash
+###################################################################################################################################################
+#   Author: Zhang Shuai                                                                                                                           #
+#   Date:   2019-10-29                                                                                                                            #
+###################################################################################################################################################
+
+export GAZEBO_MASTER_URI=http://localhost:11345
+gz world -p 1
+export GAZEBO_MASTER_URI=http://localhost:11346
+gz world -p 1
+
+exit 0

Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_start.sh

@@ -0,0 +1,12 @@
+#!/bin/bash
+###################################################################################################################################################
+#   Author: Zhang Shuai                                                                                                                           #
+#   Date:   2019-10-29                                                                                                                            #
+###################################################################################################################################################
+
+export GAZEBO_MASTER_URI=http://localhost:11345
+gz world -p 0
+export GAZEBO_MASTER_URI=http://localhost:11346
+gz world -p 0
+
+exit 0

Gazebo_Distributed_MPI/mpi_run/hostfile

@@ -1,3 +1,3 @@
-airc05-Precision-7920-Tower slots=1
+airc05-Precision-7920-Tower slots=2
-airc02-PowerEdge-T640 slots=1
+#airc02-PowerEdge-T640 slots=1
 #airc03-PowerEdge-T640 slots=1

Gazebo_Distributed_MPI/mpi_run/rankfile

@@ -1,2 +1,2 @@
-rank 0=airc05-Precision-7920-Tower slot=0
+rank 0=airc05-Precision-7920-Tower slot=0-3
-rank 1=airc02-PowerEdge-T640 slot=0
+rank 1=airc05-Precision-7920-Tower slot=20-23

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_32_single_gazebo_mpi_spawn_test_xxx.launch

@@ -0,0 +1,360 @@
+<!-- This is a launch file that runs the bare minimum requirements to get -->
+<!-- gazebo running for a fixed-wing aircraft -->
+
+<launch>
+
+  <group ns="bebop_0">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_0" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_0" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_1">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_1" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_1" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_2">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_2" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_2" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="10.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_3">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_3" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_3" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="15.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_4">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_4" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_4" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="20.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_5">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_5" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_5" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="25.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_6">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_6" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_6" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="30.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_7">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_7" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_7" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="35.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_8">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_8" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_8" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="40.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_9">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_9" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_9" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="45.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_10">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_10" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_10" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_11">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_11" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_11" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_12">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_12" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_12" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="10.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_13">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_13" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_13" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="15.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_14">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_14" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_14" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="20.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_15">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_15" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_15" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="25.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_16">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_16" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_16" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="30.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_17">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_17" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_17" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="35.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_18">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_18" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_18" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="40.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_19">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_19" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_19" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="45.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_20">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_20" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_20" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_21">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_21" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_21" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_22">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_22" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_22" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="10.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_23">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_23" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_23" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="15.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_24">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_24" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_24" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="20.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_25">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_25" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_25" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="25.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_26">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_26" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_26" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="30.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_27">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_27" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_27" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="35.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_28">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_28" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_28" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="40.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_29">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
+      <arg name="name" value="bebop_29" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_29" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="45.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_30">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1_without_controller.launch">
+      <arg name="name" value="bebop_30" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_30" />
+      <arg name="x" value="15.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_31">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1_without_controller.launch">
+      <arg name="name" value="bebop_31" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_31" />
+      <arg name="x" value="15.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+  
+  <!--<node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>-->
+
+</launch>

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_32_single_gazebo_mpi_spawn_test_yyy.launch

@@ -0,0 +1,360 @@
+<!-- This is a launch file that runs the bare minimum requirements to get -->
+<!-- gazebo running for a fixed-wing aircraft -->
+
+<launch>
+
+  <group ns="bebop_0">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_0" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_0" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_1">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_1" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_1" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_2">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_2" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_2" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="10.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_3">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_3" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_3" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="15.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_4">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_4" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_4" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="20.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_5">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_5" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_5" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="25.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_6">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_6" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_6" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="30.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_7">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_7" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_7" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="35.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_8">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_8" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_8" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="40.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_9">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_9" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_9" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="45.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_10">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_10" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_10" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_11">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_11" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_11" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_12">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_12" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_12" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="10.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_13">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_13" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_13" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="15.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_14">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_14" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_14" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="20.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_15">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_15" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_15" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="25.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_16">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_16" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_16" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="30.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_17">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_17" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_17" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="35.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_18">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_18" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_18" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="40.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_19">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_19" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_19" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="45.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_20">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_20" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_20" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_21">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_21" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_21" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_22">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_22" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_22" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="10.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_23">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_23" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_23" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="15.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_24">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_24" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_24" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="20.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_25">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_25" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_25" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="25.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_26">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_26" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_26" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="30.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_27">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_27" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_27" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="35.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_28">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_28" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_28" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="40.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_29">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2_without_controller.launch">
+      <arg name="name" value="bebop_29" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_29" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="45.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_30">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2.launch">
+      <arg name="name" value="bebop_30" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_30" />
+      <arg name="x" value="15.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_31">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2.launch">
+      <arg name="name" value="bebop_31" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_31" />
+      <arg name="x" value="15.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+  
+  <node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
+
+</launch>

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_32hector_mpi_test.world

@@ -0,0 +1,324 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <include>
+      <uri>model://kunming_airport</uri>
+      <pose>0 0 0  0 0 0</pose>
+    </include>
+
+    <scene>
+      <ambient>0.68 0.68 0.68 1.0</ambient>
+      <sky>
+        <sunrise/>
+        <clouds>
+          <speed>0</speed>
+        </clouds>
+      </sky>
+    </scene>
+    
+    <!-- For distributed simulation -->
+    <distribution flag=1>
+      <gazebo_id num=0>
+        <model_name>bebop_0</model_name>
+        <model_name>bebop_1</model_name>
+        <model_name>bebop_2</model_name>
+        <model_name>bebop_3</model_name>
+        <model_name>bebop_4</model_name>
+        <model_name>bebop_5</model_name>
+        <model_name>bebop_6</model_name>
+        <model_name>bebop_7</model_name>
+        <model_name>bebop_8</model_name>
+        <model_name>bebop_9</model_name>
+        <model_name>bebop_10</model_name>
+        <model_name>bebop_11</model_name>
+        <model_name>bebop_12</model_name>
+        <model_name>bebop_13</model_name>
+        <model_name>bebop_14</model_name>
+        <model_name>bebop_15</model_name>
+        <model_name>bebop_16</model_name>
+        <model_name>bebop_17</model_name>
+        <model_name>bebop_18</model_name>
+        <model_name>bebop_19</model_name>
+        <model_name>bebop_20</model_name>
+        <model_name>bebop_21</model_name>
+        <model_name>bebop_22</model_name>
+        <model_name>bebop_23</model_name>
+        <model_name>bebop_24</model_name>
+        <model_name>bebop_25</model_name>
+        <model_name>bebop_26</model_name>
+        <model_name>bebop_27</model_name>
+        <model_name>bebop_28</model_name>
+        <model_name>bebop_29</model_name>
+      </gazebo_id>
+      <gazebo_id num=1>
+        <model_name>bebop_30</model_name>
+        <model_name>bebop_31</model_name>        
+      </gazebo_id>
+    </distribution>
+
+    <physics type="ode" name="ode">
+      <real_time_update_rate>0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>0</real_time_factor>
+      <!-- <ode>
+        <solver>
+          <thread_position_correction>0</thread_position_correction>
+          <island_threads>8</island_threads>
+        </solver>
+      </ode> -->
+    </physics>
+
+<exercise_opt>
+      <event_signal parallel_type=0 threads=8 />
+	  <collide_space>0</collide_space>
+      <dxhashspace_collide threads=0 />
+      <updatephysics_dxprocessislands parallel_type=0 threads=4 />
+    </exercise_opt>
+
+    <!-- <model name="bebop_0">
+      <pose>0 0 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_1">
+      <pose>0 5 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_2">
+      <pose>0 10 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_3">
+      <pose>0 15 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_4">
+      <pose>0 20 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_5">
+      <pose>0 25 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_6">
+      <pose>0 30 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_7">
+      <pose>0 35 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_8">
+      <pose>0 40 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_9">
+      <pose>0 45 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_10">
+      <pose>5 0 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_11">
+      <pose>5 5 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_12">
+      <pose>5 10 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_13">
+      <pose>5 15 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_14">
+      <pose>5 20 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_15">
+      <pose>5 25 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_16">
+      <pose>5 30 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_17">
+      <pose>5 35 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_18">
+      <pose>5 40 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_19">
+      <pose>5 45 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_20">
+      <pose>10 0 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_21">
+      <pose>10 5 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_22">
+      <pose>10 10 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_23">
+      <pose>10 15 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_24">
+      <pose>10 20 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_25">
+      <pose>10 25 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_26">
+      <pose>10 30 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_27">
+      <pose>10 35 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_28">
+      <pose>10 40 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model>
+
+    <model name="bebop_29">
+      <pose>10 45 0.186 0 0 0</pose>
+      <include>
+        <uri>model://quadrotor</uri>
+      </include>
+      <plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
+    </model> -->
+    
+  </world>
+</sdf>