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1. MPI_Allgatherv, version 0.5.1 

2. a little modify
This commit is contained in:
zhangshuai 2019-07-11 09:23:34 +08:00
parent 8c093b02be
commit 4b59599399
2 changed files with 691 additions and 6 deletions
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17
Gazebo_Distributed_MPI/gazebo/physics/World.cc
View File

@ -1826,7 +1826,7 @@ void World::ModelUpdateSingleLoop()
// for (unsigned int i = 0; i < this->dataPtr->rootElement->GetChildCount(); i++)
// {
// this->dataPtr->rootElement->GetChild(i)->Update();
// std::cout << "GetChildCount() : " << this->dataPtr->rootElement->GetChildCount() << std::endl; //zhangshuai test 2019.07.09
// std::cout << "GetChildCount() : " << this->dataPtr->rootElement->GetChildCount() << std::endl;
// std::cout << "GetChild(" << i << ") : " << this->dataPtr->rootElement->GetChild(i)->GetName() << std::endl;
// std::cout << "rootElement->GetName() : " << this->dataPtr->rootElement->GetName() << std::endl;
// std::cout << "this->GetModelCount() : " << this->GetModelCount() << std::endl;
@ -1843,14 +1843,23 @@ void World::ModelUpdateSingleLoop()
// }
// test by zhangshuai 2019.07.10 ----End
// Modified by zhangshuai for MPI 2019.07.11 ----Begin
if (this->flag == 1)
{
for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount(); i++)
{
this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModel(i)->Update();
// this->GetModel(i)->Update();
std::cout << "GetModelCount() : " << this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount() << std::endl;
std::cout << "GetModel(i)->GetName() : " << this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModel(i)->GetName() << std::endl;
}
}
else
{
for (unsigned int i = 0; i < this->dataPtr->rootElement->GetChildCount(); i++)
{
this->dataPtr->rootElement->GetChild(i)->Update();
}
}
// Modified by zhangshuai for MPI 2019.07.11 ----End
}
//////////////////////////////////////////////////
void World::LoadPlugins()

676
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_60_single_gazebo.launch Normal file
View File

@ -0,0 +1,676 @@
<!-- This is a launch file that runs the bare minimum requirements to get -->
<!-- gazebo running for a fixed-wing aircraft -->
<launch>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="gui" value="true"/>
<arg name="verbose" value="false"/>
<arg name="debug" value="false"/>
<arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport.world"/>
</include>
<group ns="bebop_0">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_0" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_1" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_2" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_3" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_4" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_5" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_6" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_7" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_8" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_9" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_10" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_11" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_12" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_13" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_14" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_15" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_16" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_17" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_18" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_19" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_20" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_21" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_22" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_23" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_24" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_25" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_26" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_27" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_28" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_29" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_30" />
<arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_31" />
<arg name="model" value="$(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>
<group ns="bebop_32">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_32" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_32" />
<arg name="x" value="15.0" />
<arg name="y" value="10.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_33">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_33" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_33" />
<arg name="x" value="15.0" />
<arg name="y" value="15.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_34">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_34" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_34" />
<arg name="x" value="15.0" />
<arg name="y" value="20.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_35">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_35" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_35" />
<arg name="x" value="15.0" />
<arg name="y" value="25.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_36">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_36" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_36" />
<arg name="x" value="15.0" />
<arg name="y" value="30.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_37">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_37" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_37" />
<arg name="x" value="15.0" />
<arg name="y" value="35.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_38">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_38" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_38" />
<arg name="x" value="15.0" />
<arg name="y" value="40.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_39">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_39" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_39" />
<arg name="x" value="15.0" />
<arg name="y" value="45.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_40">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_40" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_40" />
<arg name="x" value="20.0" />
<arg name="y" value="0.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_41">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_41" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_41" />
<arg name="x" value="20.0" />
<arg name="y" value="5.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_42">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_42" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_42" />
<arg name="x" value="20.0" />
<arg name="y" value="10.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_43">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_43" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_43" />
<arg name="x" value="20.0" />
<arg name="y" value="15.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_44">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_44" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_44" />
<arg name="x" value="20.0" />
<arg name="y" value="20.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_45">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_45" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_45" />
<arg name="x" value="20.0" />
<arg name="y" value="25.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_46">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_46" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_46" />
<arg name="x" value="20.0" />
<arg name="y" value="30.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_47">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_47" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_47" />
<arg name="x" value="20.0" />
<arg name="y" value="35.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_48">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_48" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_48" />
<arg name="x" value="20.0" />
<arg name="y" value="40.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_49">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_49" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_49" />
<arg name="x" value="20.0" />
<arg name="y" value="45.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_50">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_50" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_50" />
<arg name="x" value="25.0" />
<arg name="y" value="0.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_51">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_51" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_51" />
<arg name="x" value="25.0" />
<arg name="y" value="5.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_52">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_52" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_52" />
<arg name="x" value="25.0" />
<arg name="y" value="10.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_53">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_53" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_53" />
<arg name="x" value="25.0" />
<arg name="y" value="15.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_54">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_54" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_54" />
<arg name="x" value="25.0" />
<arg name="y" value="20.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_55">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_55" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_55" />
<arg name="x" value="25.0" />
<arg name="y" value="25.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_56">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_56" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_56" />
<arg name="x" value="25.0" />
<arg name="y" value="30.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_57">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_57" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_57" />
<arg name="x" value="25.0" />
<arg name="y" value="35.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_58">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_58" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_58" />
<arg name="x" value="25.0" />
<arg name="y" value="40.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_59">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_59" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_59" />
<arg name="x" value="25.0" />
<arg name="y" value="45.0" />
<arg name="z" value="0.186" />
</include>
</group>
<node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
</launch>