modify for single computer MPI

Gazebo_Distributed_MPI/mpi_run/mpirun_test.sh

@@ -9,4 +9,9 @@ mpiexec -hostfile hostfile -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gaz
 mpiexec -hostfile hostfile -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gzserver -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/empty_origin.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gzserver -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/empty_origin.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so
 
 
-mpiexec -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so -gname xxx : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gazebo -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so -gname yyy
+mpiexec -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so -gname xxx : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so -gname yyy
+
+
+mpiexec -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=xxx : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=yyy
+
+mpiexec -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gzserver -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=xxx : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gzserver -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=yyy

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_mpi_spawn_test1.launch

@@ -0,0 +1,30 @@
+<!-- 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>
+
+  <node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
+
+</launch>

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_mpi_spawn_test2.launch

@@ -0,0 +1,30 @@
+<!-- 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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2.launch">
+      <arg name="name" value="bebop_0" />
+      <arg name="model" value="$(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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2.launch">
+      <arg name="name" value="bebop_1" />
+      <arg name="model" value="$(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>
+
+  <node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
+
+</launch>

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_test.launch

@@ -3,8 +3,16 @@
 
 <launch>
 
-  <group ns="bebop_0">
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.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="$(find hector_quadrotor_gazebo)/worlds/kunming_airport_distribution_mpi_test.world"/>
+  </include>
+
+  <!-- <group ns="bebop_0">
+    <include file="$(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" />
@@ -15,7 +23,7 @@
   </group>
 
   <group ns="bebop_1">
-    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+    <include file="$(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" />
@@ -23,8 +31,8 @@
       <arg name="y" value="5.0" />
       <arg name="z" value="0.186" />
     </include>
-  </group>
+  </group> -->
 
-  <node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
+  <!-- <node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/> -->
 
 </launch>

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_2.launch

@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="name" default="quadrotor"/>
+  <arg name="model" default="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+  <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
+  <arg name="controller_definition" default="$(find hector_quadrotor_controller)/launch/controller.launch"/>
+
+  <arg name="x" default="0.0"/>
+  <arg name="y" default="0.0"/>
+  <arg name="z" default="0.3"/>
+
+  <arg name="use_ground_truth_for_tf" default="true" />
+  <arg name="use_ground_truth_for_control" default="true" />
+  <arg name="use_pose_estimation" if="$(arg use_ground_truth_for_control)" default="false"/>
+  <arg name="use_pose_estimation" unless="$(arg use_ground_truth_for_control)" default="true"/>
+
+  <arg name="world_frame" default="world"/> <!-- This should actually be "/world". See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/324 -->
+  <arg name="base_link_frame" default="$(arg tf_prefix)/base_link"/>
+
+  <!-- send the robot XML to param server -->
+  <param name="robot_description" command="$(find xacro)/xacro '$(arg model)' name:=$(arg name) base_link_frame:=$(arg base_link_frame) world_frame:=$(arg world_frame)" />
+  <param name="tf_prefix" type="string" value="$(arg tf_prefix)" />
+  <param name="base_link_frame" type="string" value="$(arg base_link_frame)"/>
+  <param name="world_frame" type="string" value="$(arg world_frame)"/>
+
+  <!-- push robot_description to factory and spawn robot in gazebo -->
+  <node name="spawn_robot" pkg="gazebo_ros" type="spawn_model2"
+        args="-param robot_description
+           -urdf
+           -x $(arg x)
+           -y $(arg y)
+           -z $(arg z)
+           -model $(arg name)"
+        respawn="false" output="screen"/>
+
+  <!-- start robot state publisher -->
+  <!-- <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
+    <param name="publish_frequency" type="double" value="50.0" />
+  </node> -->
+
+  <!-- publish state and tf -->
+  <!-- <node name="ground_truth_to_tf" pkg="message_to_tf" type="message_to_tf" output="screen">
+    <param name="odometry_topic" value="ground_truth/state" />
+    <param name="frame_id" value="/$(arg world_frame)" />
+    <param name="tf_prefix" value="$(arg tf_prefix)" if="$(arg use_ground_truth_for_tf)" />
+    <param name="tf_prefix" value="$(arg tf_prefix)/ground_truth" unless="$(arg use_ground_truth_for_tf)" />
+  </node>
+  <group if="$(arg use_pose_estimation)">
+    <node name="pose_estimation" pkg="hector_quadrotor_pose_estimation" type="hector_quadrotor_pose_estimation" output="screen">
+      <rosparam file="$(find hector_quadrotor_pose_estimation)/params/simulation.yaml" />
+      <param name="nav_frame" value="$(arg tf_prefix)/nav" />
+      <param name="publish_world_nav_transform" value="true" />
+      <param name="tf_prefix" value="$(arg tf_prefix)" unless="$(arg use_ground_truth_for_tf)" />
+      <param name="tf_prefix" value="$(arg tf_prefix)/pose_estimation" if="$(arg use_ground_truth_for_tf)" />
+    </node>
+  </group> -->
+
+  <!-- spawn controller -->
+  <group if="$(arg use_ground_truth_for_control)">
+    <param name="controller/state_topic" value="" />
+    <param name="controller/imu_topic" value="" />
+  </group>
+  <group unless="$(arg use_ground_truth_for_control)">
+    <param name="controller/state_topic" value="state" />
+    <param name="controller/imu_topic" value="imu" />
+  </group>
+  <include file="$(arg controller_definition)" />
+
+  <arg name="motors" default="robbe_2827-34_epp1045" />
+  <rosparam command="load" file="$(find hector_quadrotor_model)/param/quadrotor_aerodynamics.yaml" />
+  <rosparam command="load" file="$(find hector_quadrotor_model)/param/$(arg motors).yaml" />
+
+</launch>

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_10hector_mpi_test.world

@@ -0,0 +1,135 @@
+<?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>
+      </gazebo_id>
+      <gazebo_id num=1>
+        <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>
+      </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>
+    
+  </world>
+</sdf>

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_10hector_tcp_test.world

@@ -0,0 +1,135 @@
+<?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 gazebo_local_ID=0 port=8888 flag=1>
+      <gazebo_id num=0 ip="192.168.1.7">
+        <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>
+      </gazebo_id>
+      <gazebo_id num=1 ip="192.168.1.8">
+        <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>
+      </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>
+    
+  </world>
+</sdf>

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world

@@ -0,0 +1,63 @@
+<?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>
+</gazebo_id>
+<gazebo_id num=1>
+<model_name>bebop_1</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 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_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> -->
+
+  </world>
+</sdf>

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_tcp_test.world

@@ -0,0 +1,63 @@
+<?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 gazebo_local_ID=0 port=8888 flag=1>
+      <gazebo_id num=0 ip="192.168.1.7">
+        <model_name>bebop_0</model_name>
+      </gazebo_id>
+      <gazebo_id num=1 ip="192.168.1.8">
+        <model_name>bebop_1</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 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_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>
+    
+  </world>
+</sdf>

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_30hector_mpi_test.world

@@ -0,0 +1,315 @@
+<?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>
+      </gazebo_id>
+      <gazebo_id num=1>
+        <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>
+    </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>
+        <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>

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_30hector_tcp_test.world

@@ -0,0 +1,315 @@
+<?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 gazebo_local_ID=0 port=8888 flag=1>
+      <gazebo_id num=0 ip="192.168.1.7">
+        <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>
+      </gazebo_id>
+      <gazebo_id num=1 ip="192.168.1.8">
+        <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>
+    </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>
+        <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>

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_mpi_test.world

@@ -0,0 +1,81 @@
+<?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>
+      </gazebo_id>
+      <gazebo_id num=1>
+        <model_name>bebop_2</model_name>
+        <model_name>bebop_3</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 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_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>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_3">
+      <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>
+    
+  </world>
+</sdf>

Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_tcp_test.world

@@ -0,0 +1,81 @@
+<?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 gazebo_local_ID=0 port=8888 flag=1>
+      <gazebo_id num=0 ip="192.168.1.7">
+        <model_name>bebop_0</model_name>
+        <model_name>bebop_1</model_name>
+      </gazebo_id>
+      <gazebo_id num=1 ip="192.168.1.8">
+        <model_name>bebop_2</model_name>
+        <model_name>bebop_3</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 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_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>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_3">
+      <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>
+    
+  </world>
+</sdf>

gazebo_ros_pkgs/gazebo_ros/launch/empty_world.launch

@@ -35,7 +35,7 @@
   <group if="$(arg use_clock_frequency)">
     <param name="gazebo/pub_clock_frequency" value="$(arg pub_clock_frequency)" />
   </group>
-  <node name="gazebo" pkg="gazebo_ros" type="gzserver" respawn="$(arg respawn_gazebo)" 
+  <node name="xxx" pkg="gazebo_ros" type="gzserver" respawn="$(arg respawn_gazebo)" 
   output="screen"	args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) 
   -e $(arg physics) $(arg extra_gazebo_args) $(arg world_name)" />
   <!-- <node name="gazebo2" pkg="gazebo_ros" type="gzserver2" respawn="$(arg respawn_gazebo)" 

gazebo_ros_pkgs/gazebo_ros/scripts/gzserver

@@ -38,4 +38,10 @@ fi
 
 final=$(relocate_remappings "${final}")
 
+echo "print each param from \"\$final\""
+for var in "$final"
+do
+echo "!!!!!$var"
+done
+
 GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzserver $final

gazebo_ros_pkgs/gazebo_ros/scripts/libcommon.sh

@@ -5,6 +5,7 @@
 # https://github.com/ros-simulation/gazebo_ros_pkgs/issues/387
 relocate_remappings()
 {
+  # echo "=====libcommon=====${1}"
   command_line=${1}
 
   # echo "=====libcommon====="

gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model2

@@ -79,7 +79,7 @@ class SpawnModel():
         self.database_name           = ""
         self.model_name              = ""
         self.robot_namespace         = rospy.get_namespace()
-        self.gazebo_namespace        = "/gazebo2"
+        self.gazebo_namespace        = "/yyy"
         self.reference_frame         = ""
         self.unpause_physics         = False
         self.wait_for_model          = ""

sdformat_for_mpi/sdf/1.0/distribution.sdf

@@ -6,14 +6,6 @@
     <description>The ID of the gazebo.</description>
   </attribute>
 
-  <attribute name="flag" type="int" default="0" required="0">
-    <description>The flag of the remote server.</description>
-  </attribute>
-
-  <attribute name="port" type="int" default="0" required="0">
-    <description>the port of the remote port</description>
-  </attribute>
-
   <include filename="gazeboid.sdf" required="1"/>
 
 </element> <!-- distribution -->

sdformat_for_mpi/sdf/1.0/gazeboid.sdf

@@ -5,10 +5,6 @@
  <attribute name="num" type="unsigned int" default="0" required="0">
     <description>The type of the distribution(0:client or 1:server).</description>
   </attribute>
-
-  <attribute name="ip" type="string" default="192.168.1.4" required="0">
-    <description>The ip of the local gazebo.</description>
-  </attribute>
   
   <element name="model_name" type="string" default="robot" required="0">
     <description>model name in the local gazebo.</description>