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1. MPI_Allgatherv, version 0.6.2 

2. add test worlds.
This commit is contained in:
zhangshuai 2019-10-16 16:25:33 +08:00
parent 9a22ca648f
commit 4957a0e337
2 changed files with 1890 additions and 0 deletions
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945
Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_100hector_mpi_test.world Normal file
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<?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>robot_1</model_name>
<model_name>robot_2</model_name>
<model_name>robot_3</model_name>
<model_name>robot_4</model_name>
<model_name>robot_5</model_name>
<model_name>robot_6</model_name>
<model_name>robot_7</model_name>
<model_name>robot_8</model_name>
<model_name>robot_9</model_name>
<model_name>robot_10</model_name>
<model_name>robot_11</model_name>
<model_name>robot_12</model_name>
<model_name>robot_13</model_name>
<model_name>robot_14</model_name>
<model_name>robot_15</model_name>
<model_name>robot_16</model_name>
<model_name>robot_17</model_name>
<model_name>robot_18</model_name>
<model_name>robot_19</model_name>
<model_name>robot_20</model_name>
<model_name>robot_21</model_name>
<model_name>robot_22</model_name>
<model_name>robot_23</model_name>
<model_name>robot_24</model_name>
<model_name>robot_25</model_name>
<model_name>robot_26</model_name>
<model_name>robot_27</model_name>
<model_name>robot_28</model_name>
<model_name>robot_29</model_name>
<model_name>robot_30</model_name>
<model_name>robot_31</model_name>
<model_name>robot_32</model_name>
<model_name>robot_33</model_name>
<model_name>robot_34</model_name>
<model_name>robot_35</model_name>
<model_name>robot_36</model_name>
<model_name>robot_37</model_name>
<model_name>robot_38</model_name>
<model_name>robot_39</model_name>
<model_name>robot_40</model_name>
<model_name>robot_41</model_name>
<model_name>robot_42</model_name>
<model_name>robot_43</model_name>
<model_name>robot_44</model_name>
<model_name>robot_45</model_name>
<model_name>robot_46</model_name>
<model_name>robot_47</model_name>
<model_name>robot_48</model_name>
<model_name>robot_49</model_name>
<model_name>robot_50</model_name>
</gazebo_id>
<gazebo_id num=1>
<model_name>robot_51</model_name>
<model_name>robot_52</model_name>
<model_name>robot_53</model_name>
<model_name>robot_54</model_name>
<model_name>robot_55</model_name>
<model_name>robot_56</model_name>
<model_name>robot_57</model_name>
<model_name>robot_58</model_name>
<model_name>robot_59</model_name>
<model_name>robot_60</model_name>
<model_name>robot_61</model_name>
<model_name>robot_62</model_name>
<model_name>robot_63</model_name>
<model_name>robot_64</model_name>
<model_name>robot_65</model_name>
<model_name>robot_66</model_name>
<model_name>robot_67</model_name>
<model_name>robot_68</model_name>
<model_name>robot_69</model_name>
<model_name>robot_70</model_name>
<model_name>robot_71</model_name>
<model_name>robot_72</model_name>
<model_name>robot_73</model_name>
<model_name>robot_74</model_name>
<model_name>robot_75</model_name>
<model_name>robot_76</model_name>
<model_name>robot_77</model_name>
<model_name>robot_78</model_name>
<model_name>robot_79</model_name>
<model_name>robot_80</model_name>
<model_name>robot_81</model_name>
<model_name>robot_82</model_name>
<model_name>robot_83</model_name>
<model_name>robot_84</model_name>
<model_name>robot_85</model_name>
<model_name>robot_86</model_name>
<model_name>robot_87</model_name>
<model_name>robot_88</model_name>
<model_name>robot_89</model_name>
<model_name>robot_90</model_name>
<model_name>robot_91</model_name>
<model_name>robot_92</model_name>
<model_name>robot_93</model_name>
<model_name>robot_94</model_name>
<model_name>robot_95</model_name>
<model_name>robot_96</model_name>
<model_name>robot_97</model_name>
<model_name>robot_98</model_name>
<model_name>robot_99</model_name>
<model_name>robot_100</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>
<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"/>
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<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>
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<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">
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<include>
<uri>model://quadrotor</uri>
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<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"/>
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<model name="bebop_27">
<pose>10 35 0.186 0 0 0</pose>
<include>
<uri>model://quadrotor</uri>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<model name="bebop_28">
<pose>10 40 0.186 0 0 0</pose>
<include>
<uri>model://quadrotor</uri>
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<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>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<model name="bebop_30">
<pose>15 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_31">
<pose>15 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_32">
<pose>15 10 0.186 0 0 0</pose>
<include>
<uri>model://quadrotor</uri>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<model name="bebop_33">
<pose>15 15 0.186 0 0 0</pose>
<include>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<model name="bebop_34">
<pose>15 20 0.186 0 0 0</pose>
<include>
<uri>model://quadrotor</uri>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<include>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<model name="bebop_36">
<pose>15 30 0.186 0 0 0</pose>
<include>
<uri>model://quadrotor</uri>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<model name="bebop_37">
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<include>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<include>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<include>
<uri>model://quadrotor</uri>
</include>
<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<model name="bebop_40">
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<include>
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<include>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<include>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<include>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<include>
<uri>model://quadrotor</uri>
</include>
<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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<include>
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<uri>model://quadrotor</uri>
</include>
<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
</model>
<model name="bebop_63">
<pose>30 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_64">
<pose>30 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_65">
<pose>30 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_66">
<pose>30 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_67">
<pose>30 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_68">
<pose>30 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_69">
<pose>30 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_70">
<pose>35 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_71">
<pose>35 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_72">
<pose>35 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_73">
<pose>35 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_74">
<pose>35 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_75">
<pose>35 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_76">
<pose>35 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_77">
<pose>35 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_78">
<pose>35 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_79">
<pose>35 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_80">
<pose>40 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_81">
<pose>40 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_82">
<pose>40 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_83">
<pose>40 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_84">
<pose>40 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_85">
<pose>40 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_86">
<pose>40 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_87">
<pose>40 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_88">
<pose>40 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_89">
<pose>40 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_90">
<pose>45 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_91">
<pose>45 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_92">
<pose>45 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_93">
<pose>45 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_94">
<pose>45 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_95">
<pose>45 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_96">
<pose>45 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_97">
<pose>45 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_98">
<pose>45 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_99">
<pose>45 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>

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Gazebo_Distributed_MPI/mpi_run/kunming_airport_single_100hector_test.world Normal file
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@ -0,0 +1,945 @@
<?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=0>
<gazebo_id num=0>
<model_name>robot_1</model_name>
<model_name>robot_2</model_name>
<model_name>robot_3</model_name>
<model_name>robot_4</model_name>
<model_name>robot_5</model_name>
<model_name>robot_6</model_name>
<model_name>robot_7</model_name>
<model_name>robot_8</model_name>
<model_name>robot_9</model_name>
<model_name>robot_10</model_name>
<model_name>robot_11</model_name>
<model_name>robot_12</model_name>
<model_name>robot_13</model_name>
<model_name>robot_14</model_name>
<model_name>robot_15</model_name>
<model_name>robot_16</model_name>
<model_name>robot_17</model_name>
<model_name>robot_18</model_name>
<model_name>robot_19</model_name>
<model_name>robot_20</model_name>
<model_name>robot_21</model_name>
<model_name>robot_22</model_name>
<model_name>robot_23</model_name>
<model_name>robot_24</model_name>
<model_name>robot_25</model_name>
<model_name>robot_26</model_name>
<model_name>robot_27</model_name>
<model_name>robot_28</model_name>
<model_name>robot_29</model_name>
<model_name>robot_30</model_name>
<model_name>robot_31</model_name>
<model_name>robot_32</model_name>
<model_name>robot_33</model_name>
<model_name>robot_34</model_name>
<model_name>robot_35</model_name>
<model_name>robot_36</model_name>
<model_name>robot_37</model_name>
<model_name>robot_38</model_name>
<model_name>robot_39</model_name>
<model_name>robot_40</model_name>
<model_name>robot_41</model_name>
<model_name>robot_42</model_name>
<model_name>robot_43</model_name>
<model_name>robot_44</model_name>
<model_name>robot_45</model_name>
<model_name>robot_46</model_name>
<model_name>robot_47</model_name>
<model_name>robot_48</model_name>
<model_name>robot_49</model_name>
<model_name>robot_50</model_name>
</gazebo_id>
<gazebo_id num=1>
<model_name>robot_51</model_name>
<model_name>robot_52</model_name>
<model_name>robot_53</model_name>
<model_name>robot_54</model_name>
<model_name>robot_55</model_name>
<model_name>robot_56</model_name>
<model_name>robot_57</model_name>
<model_name>robot_58</model_name>
<model_name>robot_59</model_name>
<model_name>robot_60</model_name>
<model_name>robot_61</model_name>
<model_name>robot_62</model_name>
<model_name>robot_63</model_name>
<model_name>robot_64</model_name>
<model_name>robot_65</model_name>
<model_name>robot_66</model_name>
<model_name>robot_67</model_name>
<model_name>robot_68</model_name>
<model_name>robot_69</model_name>
<model_name>robot_70</model_name>
<model_name>robot_71</model_name>
<model_name>robot_72</model_name>
<model_name>robot_73</model_name>
<model_name>robot_74</model_name>
<model_name>robot_75</model_name>
<model_name>robot_76</model_name>
<model_name>robot_77</model_name>
<model_name>robot_78</model_name>
<model_name>robot_79</model_name>
<model_name>robot_80</model_name>
<model_name>robot_81</model_name>
<model_name>robot_82</model_name>
<model_name>robot_83</model_name>
<model_name>robot_84</model_name>
<model_name>robot_85</model_name>
<model_name>robot_86</model_name>
<model_name>robot_87</model_name>
<model_name>robot_88</model_name>
<model_name>robot_89</model_name>
<model_name>robot_90</model_name>
<model_name>robot_91</model_name>
<model_name>robot_92</model_name>
<model_name>robot_93</model_name>
<model_name>robot_94</model_name>
<model_name>robot_95</model_name>
<model_name>robot_96</model_name>
<model_name>robot_97</model_name>
<model_name>robot_98</model_name>
<model_name>robot_99</model_name>
<model_name>robot_100</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>
<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>
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