From 837f077c850f8880b347619761f932fd849ac27a Mon Sep 17 00:00:00 2001
From: zhangshuai <zhangshuai9999@outlook.com>
Date: Mon, 8 Apr 2019 08:40:23 +0800
Subject: [PATCH] Add judgement of flag to decide whether load distribution
 element

---
 Gazebo_Distributed/gazebo/physics/World.cc    |   9 +-
 .../launch/hector_10_single_gazebo.launch     | 126 +++++++
 .../launch/hector_2_single_gazebo.launch      |  39 ++
 .../launch/hector_30_single_gazebo.launch     | 346 ++++++++++++++++++
 .../launch/hector_4_single_gazebo.launch      |  61 +++
 .../worlds/kunming_airport.world              |   2 +-
 6 files changed, 579 insertions(+), 4 deletions(-)
 create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_10_single_gazebo.launch
 create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo.launch
 create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_30_single_gazebo.launch
 create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_4_single_gazebo.launch

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 @@
+<!-- This is a launch file that runs the bare minimum requirements to get -->
+<!-- gazebo running for a fixed-wing aircraft -->
+
+<launch>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="paused" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="verbose" value="false"/>
+    <arg name="debug" value="false"/>
+    <arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport.world"/>
+  </include>
+
+  <group ns="bebop_0">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_0" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_0" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_1">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_1" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_1" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_2">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_2" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_2" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="10.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_3">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_3" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_3" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="15.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_4">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_4" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_4" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="20.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_5">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_5" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_5" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="25.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_6">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_6" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_6" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="30.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_7">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_7" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_7" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="35.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_8">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_8" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_8" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="40.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_9">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_9" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_9" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="45.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
+
+</launch>
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 @@
+<!-- This is a launch file that runs the bare minimum requirements to get -->
+<!-- gazebo running for a fixed-wing aircraft -->
+
+<launch>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="paused" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="verbose" value="false"/>
+    <arg name="debug" value="false"/>
+    <arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport
+    .world"/>
+  </include>
+
+  <group ns="bebop_0">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_0" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_0" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_1">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_1" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_1" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
+
+</launch>
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 @@
+<!-- This is a launch file that runs the bare minimum requirements to get -->
+<!-- gazebo running for a fixed-wing aircraft -->
+
+<launch>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="paused" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="verbose" value="false"/>
+    <arg name="debug" value="false"/>
+    <arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport.world"/>
+  </include>
+
+  <group ns="bebop_0">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_0" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_0" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_1">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_1" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_1" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_2">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_2" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_2" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="10.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_3">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_3" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_3" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="15.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_4">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_4" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_4" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="20.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_5">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_5" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_5" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="25.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_6">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_6" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_6" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="30.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_7">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_7" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_7" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="35.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_8">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_8" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_8" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="40.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_9">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_9" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_9" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="45.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_10">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_10" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_10" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_11">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_11" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_11" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_12">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_12" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_12" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="10.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_13">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_13" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_13" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="15.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_14">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_14" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_14" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="20.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_15">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_15" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_15" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="25.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_16">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_16" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_16" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="30.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_17">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_17" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_17" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="35.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_18">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_18" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_18" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="40.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_19">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_19" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_19" />
+      <arg name="x" value="5.0" />
+      <arg name="y" value="45.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_20">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_20" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_20" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_21">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_21" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_21" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_22">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_22" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_22" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="10.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_23">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_23" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_23" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="15.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_24">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_24" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_24" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="20.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_25">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_25" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_25" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="25.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_26">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_26" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_26" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="30.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_27">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_27" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_27" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="35.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_28">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_28" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_28" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="40.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_29">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_29" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_29" />
+      <arg name="x" value="10.0" />
+      <arg name="y" value="45.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
+
+</launch>
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 @@
+<!-- This is a launch file that runs the bare minimum requirements to get -->
+<!-- gazebo running for a fixed-wing aircraft -->
+
+<launch>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="paused" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="verbose" value="false"/>
+    <arg name="debug" value="false"/>
+    <arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport
+    .world"/>
+  </include>
+
+  <group ns="bebop_0">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_0" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_0" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="0.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_1">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_1" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_1" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="5.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_2">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_2" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_2" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="10.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <group ns="bebop_3">
+    <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
+      <arg name="name" value="bebop_3" />
+      <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
+      <arg name="tf_prefix" value="bebop_3" />
+      <arg name="x" value="0.0" />
+      <arg name="y" value="15.0" />
+      <arg name="z" value="0.186" />
+    </include>
+  </group>
+
+  <node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
+
+</launch>
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 @@
 
     <!-- <distributed type=0 ip="192.168.1.231" port=8888 flag=0 /> -->
     
-    <distribution gazebo_local_ID=0 port=8888 flag=1>
+    <distribution gazebo_local_ID=0 port=8888 flag=0>
       <gazebo_id num=0 ip="192.168.1.7">
         <model_name>bebop_0</model_name>
         <model_name>bebop_1</model_name>