diff --git a/Gazebo_Distributed/gazebo/physics/World.cc b/Gazebo_Distributed/gazebo/physics/World.cc
index e09ee2e..b3c0743 100644
--- a/Gazebo_Distributed/gazebo/physics/World.cc
+++ b/Gazebo_Distributed/gazebo/physics/World.cc
@@ -283,10 +283,13 @@ void World::Load(sdf::ElementPtr _sdf)
std::cout << "================= gazebo_local_ID: " << gazeboLocalID << "\t Port: " << port << "\t Flag: " << flag << " =================" << std::endl;
- DistributionPtr distribution_tmp(new physics::Distribution());
+ if (1 == this->flag)
+ {
+ DistributionPtr distribution_tmp(new physics::Distribution());
- this->distribution = distribution_tmp;
- this->distribution->Load(distributionElem);
+ this->distribution = distribution_tmp;
+ this->distribution->Load(distributionElem);
+ }
std::cout << "================= gazebo_counts: " << this->distribution->GetGazeboCount() << " =================" << std::endl;
std::cout << "================= gazebo_ID: " << this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetGazeboID() << " =================" << std::endl;
diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_10_single_gazebo.launch b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_10_single_gazebo.launch
new file mode 100644
index 0000000..fb6ebb7
--- /dev/null
+++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_10_single_gazebo.launch
@@ -0,0 +1,126 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo.launch b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo.launch
new file mode 100644
index 0000000..d174d72
--- /dev/null
+++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo.launch
@@ -0,0 +1,39 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_30_single_gazebo.launch b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_30_single_gazebo.launch
new file mode 100644
index 0000000..ffaec28
--- /dev/null
+++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_30_single_gazebo.launch
@@ -0,0 +1,346 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_4_single_gazebo.launch b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_4_single_gazebo.launch
new file mode 100644
index 0000000..9f8ad8c
--- /dev/null
+++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_4_single_gazebo.launch
@@ -0,0 +1,61 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport.world b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport.world
index 77c5639..de9ca87 100644
--- a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport.world
+++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport.world
@@ -31,7 +31,7 @@
-
+
bebop_0
bebop_1