modify for single computer MPI
This commit is contained in:
zhangshuai
parent
fdeebf78ea
commit
62fca17589
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@ -9,4 +9,9 @@ mpiexec -hostfile hostfile -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gaz
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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
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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
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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
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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
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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
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@ -0,0 +1,30 @@
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<!-- This is a launch file that runs the bare minimum requirements to get -->
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<!-- gazebo running for a fixed-wing aircraft -->
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<launch>
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<group ns="bebop_0">
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<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
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<arg name="name" value="bebop_0" />
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<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
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<arg name="tf_prefix" value="bebop_0" />
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<arg name="x" value="0.0" />
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<arg name="y" value="0.0" />
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<arg name="z" value="0.186" />
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</include>
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</group>
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<group ns="bebop_1">
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<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
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<arg name="name" value="bebop_1" />
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<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
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<arg name="tf_prefix" value="bebop_1" />
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<arg name="x" value="0.0" />
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<arg name="y" value="5.0" />
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<arg name="z" value="0.186" />
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</include>
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</group>
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<node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
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</launch>
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@ -0,0 +1,30 @@
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<!-- This is a launch file that runs the bare minimum requirements to get -->
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<!-- gazebo running for a fixed-wing aircraft -->
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<launch>
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<group ns="bebop_0">
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<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2.launch">
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<arg name="name" value="bebop_0" />
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<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
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<arg name="tf_prefix" value="bebop_0" />
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<arg name="x" value="0.0" />
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<arg name="y" value="0.0" />
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<arg name="z" value="0.186" />
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</include>
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</group>
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<group ns="bebop_1">
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<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_2.launch">
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<arg name="name" value="bebop_1" />
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<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
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<arg name="tf_prefix" value="bebop_1" />
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<arg name="x" value="0.0" />
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<arg name="y" value="5.0" />
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<arg name="z" value="0.186" />
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</include>
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</group>
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<node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
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</launch>
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@ -3,8 +3,16 @@
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<launch>
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<group ns="bebop_0">
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<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="paused" value="true"/>
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<arg name="gui" value="true"/>
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<arg name="verbose" value="false"/>
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<arg name="debug" value="false"/>
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<arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport_distribution_mpi_test.world"/>
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</include>
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<!-- <group ns="bebop_0">
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<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
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<arg name="name" value="bebop_0" />
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<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
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<arg name="tf_prefix" value="bebop_0" />
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@ -15,7 +23,7 @@
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</group>
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<group ns="bebop_1">
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<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
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<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
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<arg name="name" value="bebop_1" />
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<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
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<arg name="tf_prefix" value="bebop_1" />
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@ -23,8 +31,8 @@
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<arg name="y" value="5.0" />
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<arg name="z" value="0.186" />
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</include>
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</group>
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</group> -->
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<node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
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<!-- <node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/> -->
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</launch>
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@ -0,0 +1,74 @@
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<?xml version="1.0"?>
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<launch>
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<arg name="name" default="quadrotor"/>
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<arg name="model" default="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
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<arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
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<arg name="controller_definition" default="$(find hector_quadrotor_controller)/launch/controller.launch"/>
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<arg name="x" default="0.0"/>
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<arg name="y" default="0.0"/>
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<arg name="z" default="0.3"/>
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<arg name="use_ground_truth_for_tf" default="true" />
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<arg name="use_ground_truth_for_control" default="true" />
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<arg name="use_pose_estimation" if="$(arg use_ground_truth_for_control)" default="false"/>
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<arg name="use_pose_estimation" unless="$(arg use_ground_truth_for_control)" default="true"/>
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<arg name="world_frame" default="world"/> <!-- This should actually be "/world". See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/324 -->
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<arg name="base_link_frame" default="$(arg tf_prefix)/base_link"/>
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<!-- send the robot XML to param server -->
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<param name="robot_description" command="$(find xacro)/xacro '$(arg model)' name:=$(arg name) base_link_frame:=$(arg base_link_frame) world_frame:=$(arg world_frame)" />
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<param name="tf_prefix" type="string" value="$(arg tf_prefix)" />
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<param name="base_link_frame" type="string" value="$(arg base_link_frame)"/>
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<param name="world_frame" type="string" value="$(arg world_frame)"/>
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<!-- push robot_description to factory and spawn robot in gazebo -->
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<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model2"
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args="-param robot_description
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-urdf
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-x $(arg x)
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-y $(arg y)
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-z $(arg z)
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-model $(arg name)"
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respawn="false" output="screen"/>
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<!-- start robot state publisher -->
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<!-- <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
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<param name="publish_frequency" type="double" value="50.0" />
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</node> -->
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<!-- publish state and tf -->
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<!-- <node name="ground_truth_to_tf" pkg="message_to_tf" type="message_to_tf" output="screen">
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<param name="odometry_topic" value="ground_truth/state" />
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<param name="frame_id" value="/$(arg world_frame)" />
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<param name="tf_prefix" value="$(arg tf_prefix)" if="$(arg use_ground_truth_for_tf)" />
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<param name="tf_prefix" value="$(arg tf_prefix)/ground_truth" unless="$(arg use_ground_truth_for_tf)" />
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</node>
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<group if="$(arg use_pose_estimation)">
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<node name="pose_estimation" pkg="hector_quadrotor_pose_estimation" type="hector_quadrotor_pose_estimation" output="screen">
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<rosparam file="$(find hector_quadrotor_pose_estimation)/params/simulation.yaml" />
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<param name="nav_frame" value="$(arg tf_prefix)/nav" />
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<param name="publish_world_nav_transform" value="true" />
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<param name="tf_prefix" value="$(arg tf_prefix)" unless="$(arg use_ground_truth_for_tf)" />
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<param name="tf_prefix" value="$(arg tf_prefix)/pose_estimation" if="$(arg use_ground_truth_for_tf)" />
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</node>
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</group> -->
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<!-- spawn controller -->
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<group if="$(arg use_ground_truth_for_control)">
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<param name="controller/state_topic" value="" />
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<param name="controller/imu_topic" value="" />
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</group>
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<group unless="$(arg use_ground_truth_for_control)">
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<param name="controller/state_topic" value="state" />
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<param name="controller/imu_topic" value="imu" />
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</group>
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<include file="$(arg controller_definition)" />
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<arg name="motors" default="robbe_2827-34_epp1045" />
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<rosparam command="load" file="$(find hector_quadrotor_model)/param/quadrotor_aerodynamics.yaml" />
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<rosparam command="load" file="$(find hector_quadrotor_model)/param/$(arg motors).yaml" />
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</launch>
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@ -0,0 +1,135 @@
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<include>
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<uri>model://kunming_airport</uri>
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<pose>0 0 0 0 0 0</pose>
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</include>
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<scene>
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<ambient>0.68 0.68 0.68 1.0</ambient>
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<sky>
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<sunrise/>
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<clouds>
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<speed>0</speed>
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</clouds>
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</sky>
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</scene>
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<!-- For distributed simulation -->
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<distribution flag=1>
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<gazebo_id num=0>
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<model_name>bebop_0</model_name>
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<model_name>bebop_1</model_name>
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<model_name>bebop_2</model_name>
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<model_name>bebop_3</model_name>
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<model_name>bebop_4</model_name>
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</gazebo_id>
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<gazebo_id num=1>
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<model_name>bebop_5</model_name>
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<model_name>bebop_6</model_name>
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<model_name>bebop_7</model_name>
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<model_name>bebop_8</model_name>
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<model_name>bebop_9</model_name>
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</gazebo_id>
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</distribution>
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<physics type="ode" name="ode">
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<real_time_update_rate>0</real_time_update_rate>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>0</real_time_factor>
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<!-- <ode>
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<solver>
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<thread_position_correction>0</thread_position_correction>
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<island_threads>8</island_threads>
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</solver>
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</ode> -->
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</physics>
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<model name="bebop_0">
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<pose>0 0 0.186 0 0 0</pose>
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<include>
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<uri>model://quadrotor</uri>
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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>
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<model name="bebop_1">
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<pose>0 5 0.186 0 0 0</pose>
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<include>
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<uri>model://quadrotor</uri>
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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>
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<model name="bebop_2">
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<pose>0 10 0.186 0 0 0</pose>
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<include>
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<uri>model://quadrotor</uri>
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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>
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<model name="bebop_3">
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<pose>0 15 0.186 0 0 0</pose>
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<include>
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<uri>model://quadrotor</uri>
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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>
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<model name="bebop_4">
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<pose>0 20 0.186 0 0 0</pose>
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<include>
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<uri>model://quadrotor</uri>
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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>
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<model name="bebop_5">
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<pose>0 25 0.186 0 0 0</pose>
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<include>
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<uri>model://quadrotor</uri>
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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>
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<model name="bebop_6">
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<pose>0 30 0.186 0 0 0</pose>
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<include>
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<uri>model://quadrotor</uri>
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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>
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<model name="bebop_7">
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<pose>0 35 0.186 0 0 0</pose>
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<include>
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<uri>model://quadrotor</uri>
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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>
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<model name="bebop_8">
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<pose>0 40 0.186 0 0 0</pose>
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<include>
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<uri>model://quadrotor</uri>
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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>
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<model name="bebop_9">
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<pose>0 45 0.186 0 0 0</pose>
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<include>
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<uri>model://quadrotor</uri>
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</include>
|
||||
<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
|
||||
</model>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
|
|
@ -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>
|
||||
|
|
@ -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>
|
||||
|
|
@ -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>
|
||||
|
|
@ -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>
|
||||
|
|
@ -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>
|
||||
|
|
@ -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>
|
||||
|
|
@ -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>
|
||||
|
|
@ -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)"
|
||||
|
|
|
|||
|
|
@ -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 $final
|
||||
|
|
|
|||
|
|
@ -5,6 +5,7 @@
|
|||
# https://github.com/ros-simulation/gazebo_ros_pkgs/issues/387
|
||||
relocate_remappings()
|
||||
{
|
||||
# echo "=====libcommon=====${1}"
|
||||
command_line=${1}
|
||||
|
||||
# echo "=====libcommon====="
|
||||
|
|
|
|||
|
|
@ -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 = ""
|
||||
|
|
|
|||
|
|
@ -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 -->
|
||||
|
|
|
|||
|
|
@ -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>
|
||||
|
|
|
|||
|
Before Width: | Height: | Size: 3.1 KiB After Width: | Height: | Size: 3.1 KiB |
|
Before Width: | Height: | Size: 3.0 KiB After Width: | Height: | Size: 3.0 KiB |
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue