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modify the mpi scripts

This commit is contained in:
zhangshuai 2019-05-27 15:21:55 +08:00
parent d29ad9c571
commit 6f1434a43f
3 changed files with 46 additions and 13 deletions
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27
Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh
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@ -1,13 +1,16 @@
#!/bin/bash
#########################################################################
# Author: Zhang Shuai #
# Date: 2019-05-23 #
# Description: launch a MPI Gazebo simulation task #
# Usage: ./MPI_Gazebo_launch.sh [hostfile] [world's path and name] #
#########################################################################
#####################################################################################################################################
# Author: Zhang Shuai #
# Date: 2019-05-23 #
# Description: launch a MPI Gazebo simulation task #
# Usage: ./MPI_Gazebo_launch.sh [ros packdge's name] [launch file's name] [workspace's path] [world's path and name] [hostfile] #
#####################################################################################################################################
host_file=$1
world_file=$2
packdge_name=$1
launch_file_name=$2
workspace_path=$3
world_file=$4
host_file=$5
host_count=0
hosts=()
@ -33,7 +36,7 @@ done
#登入各节点启动roscore （source还有改进空间，ROS运行的工作目录应该作为参数传进来）
for((i=0;i<host_count;i++))
do
ssh -f -n ${hosts[$i]} "source ~/catkin_ws/devel/setup.bash;
ssh -f -n ${hosts[$i]} "source $workspace_path/devel/setup.bash;
roscore;
echo roscore_done!"
echo "${hosts[$i]}:roscore_good"
@ -43,7 +46,7 @@ sleep 5s
#登入第一个节点启动MPI的gzserver，并成为各自节点上的ROS node
ssh -f -n ${hosts[0]} "cd ~/MPI;
mpiexec -hostfile hostfile -np 1 mygzserver $world_file : -np 1 mygzserver $world_file;
mpiexec -hostfile $host_file -np 1 mygzserver $world_file $workspace_path : -np 1 mygzserver $world_file $workspace_path;
echo mpiexec_done!"
echo "${hosts[0]}:mpiexec_good"
@ -52,8 +55,8 @@ sleep 20s
#登入各节点roslaunch加载模型（source还有改进空间，ROS运行的工作目录应该作为参数传进来）
for((i=0;i<host_count;i++))
do
ssh -f -n ${hosts[$i]} "source ~/catkin_ws/devel/setup.bash;
roslaunch hector_quadrotor_gazebo hector_2_single_gazebo_mpi_spawn_test.launch;
ssh -f -n ${hosts[$i]} "source $workspace_path/devel/setup.bash;
roslaunch $packdge_name $launch_file_name;
echo roslaunch_done!"
echo "${hosts[$i]}:roslaunch_good"
done

2
Gazebo_Distributed_MPI/mpi_run/mygzserver
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@ -2,7 +2,7 @@
#echo ++++++++$1
source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.bash
source $2/devel/setup.bash
export DISPLAY=:0.0

30
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_mpi_spawn_test.launch Normal file
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@ -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="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_0" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_0" />
<arg name="x" value="0.0" />
<arg name="y" value="0.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_1">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_1" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_1" />
<arg name="x" value="0.0" />
<arg name="y" value="5.0" />
<arg name="z" value="0.186" />
</include>
</group>
<node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
</launch>