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1. MPI_Allgatherv, version 0.4.0 

2. modify the process of Assignment and Value Pose to reduce execution time of MPI Module, the whole Speedup ratio reaches about 20 rather to initial MPI_Allgatherv version
This commit is contained in:
zhangshuai 2019-06-18 22:29:30 +08:00
parent d0ac7fddd0
commit 899036df93
11 changed files with 3232 additions and 57 deletions
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34
Gazebo_Distributed_MPI/gazebo/physics/GazeboID.cc
View File

@ -79,27 +79,13 @@ void GazeboID::Load(sdf::ElementPtr _sdf)
if (this->sdf->HasAttribute("num"))
this->gazeboID = this->sdf->Get<int>("num");
if (this->sdf->HasAttribute("ip"))
this->ip = this->sdf->Get<std::string>("ip");
// if (this->sdf->HasElement("ip"))
// {
// sdf::ElementPtr gazeboIdElem = this->sdf->GetElement("ip");
// ip = gazeboIdElem->Get<std::string>();
// }
// if (this->sdf->HasElement("port"))
// {
// sdf::ElementPtr gazeboPortElem = this->sdf->GetElement("port");
// port = gazeboPortElem->Get<int>();
// }
if (this->sdf->HasElement("model_name"))
{
sdf::ElementPtr modelNameElem = this->sdf->GetElement("model_name");
while (modelNameElem)
{
modelNames.push_back(modelNameElem->Get<std::string>());
modelIDs.push_back(0); //initial state is 0
modelNameElem = modelNameElem->GetNextElement("model_name");
}
}
@ -111,12 +97,6 @@ int GazeboID::GetGazeboID()
return gazeboID;
}
//////////////////////////////////////////////////
std::string GazeboID::GetGazeboIp()
{
return ip;
}
//////////////////////////////////////////////////
unsigned int GazeboID::GetModelCount()
{
@ -129,6 +109,18 @@ std::string GazeboID::GetModelName(unsigned int _i)
return modelNames[_i];
}
//////////////////////////////////////////////////
unsigned int GazeboID::GetModelID(unsigned int _i)
{
return modelIDs[_i];
}
//////////////////////////////////////////////////
void GazeboID::SetModelID(unsigned int _i, unsigned int _id)
{
modelIDs[_i] = _id;
}
//////////////////////////////////////////////////
void GazeboID::Fini()
{

29
Gazebo_Distributed_MPI/gazebo/physics/GazeboID.hh
View File

@ -63,11 +63,6 @@ public:
public:
int GetGazeboID();
/// \brief Get the gazebo ip of this Distribution.
/// \return the gazebo ip of this Distribution.
public:
std::string GetGazeboIp();
/// \brief Get the number of models this Distribution has.
/// \return Number of models associated with this Distribution.
public:
@ -79,6 +74,18 @@ public:
public:
std::string GetModelName(unsigned int _i);
/// \brief Get the ID of the specified model.
/// \param[in] _i Number of the model ID to get.
/// \return the ID of the specified model.
public:
unsigned int GetModelID(unsigned int _i);
/// \brief Set the ID of the specified model.
/// \param[in] _i Number of the model to set ID.
/// \param[in] _id ID of the model to set.
public:
void SetModelID(unsigned int _i, unsigned int _id);
/// \brief Finialize the gazeboID
public:
void Fini();
@ -91,17 +98,13 @@ private:
private:
int gazeboID;
/// \brief ip of distributed gazebo.
private:
std::string ip;
/// \brief port of distributed gazebo.
private:
int port;
/// \brief Models name in this gazebo
private:
std::vector<std::string> modelNames;
/// \brief Models ID in this gazebo
private:
std::vector<unsigned int> modelIDs;
};
} // namespace physics

7
Gazebo_Distributed_MPI/gazebo/physics/MpiCommunication.hh
View File

@ -29,18 +29,15 @@
#include "gazebo/util/system.hh"
#include "gazebo/math/Pose.hh"
#define QUEUE 1
#define BUF_SIZE 8192
namespace gazebo
{
namespace physics
{
/// \brief Structure of Pose information communicated with Tcp
/// \brief Structure of Pose information communicated with MPI
struct CommunicationData
{
char model_name[16];
// char model_name[16];
math::Pose model_pose;
};

52
Gazebo_Distributed_MPI/gazebo/physics/World.cc
View File

@ -951,15 +951,8 @@ void World::Update()
CommunicationData *sendBufferData = new CommunicationData[tmp_local_model_count];
for (unsigned int i = 0; i < tmp_local_model_count; i++)
{
std::string tmp_model_name = this->distribution->GetGazeboIDPtr(this->gazeboLocalID)->GetModelName(i);
unsigned int j = 0;
for (j = 0; j < tmp_model_name.length(); j++)
sendBufferData[i].model_name[j] = tmp_model_name[j];
sendBufferData[i].model_name[j] = '\0';
sendBufferData[i].model_pose = this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose();
tmp_model_name.clear();
// sendBufferData[i].model_pose = this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose();
sendBufferData[i].model_pose = this->GetModelById(this->distribution->GetGazeboIDPtr(this->gazeboLocalID)->GetModelID(i))->GetWorldPose();
}
sendBuffer = (char *)sendBufferData;
@ -1010,9 +1003,8 @@ void World::Update()
for (unsigned int i = 0; i < tmp_model_count; i++)
{
std::string tmp_model_name = tmpBufferData[i].model_name;
this->GetModel(tmp_model_name)->GetLink("canonical")->SetWorldPose(tmpBufferData[i].model_pose);
tmp_model_name.clear();
// this->GetModel(tmp_model_name)->GetLink("canonical")->SetWorldPose(tmpBufferData[i].model_pose);
this->GetModelById(this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelID(i))->SetWorldPose(tmpBufferData[i].model_pose);
}
delete[] tmpBufferData;
}
@ -2385,13 +2377,45 @@ void World::ProcessFactoryMsgs()
if (this->flag == 1)
{
// Judge if the model to load is simulated in this gazebo
for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount(); i++)
// for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount(); i++)
// {
// if (model->GetName() == this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelName(i))
// {
// // Original part
// model->LoadPlugins();
// // Original part
// this->distribution->GetGazeboIDPtr(gazeboLocalID)->SetModelID(i, model->GetId());
// }
// }
int tmp_gazebo_count = this->distribution->GetGazeboCount();
for (int tmp_gazebo_id = 0; tmp_gazebo_id < tmp_gazebo_count; tmp_gazebo_id++)
{
if (model->GetName() == this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelName(i))
if (this->gazeboLocalID == tmp_gazebo_id)
{
unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
for (unsigned int i = 0; i < tmp_model_count; i++)
{
if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(i))
{
// Original part
model->LoadPlugins();
// Original part
this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(i, model->GetId());
}
}
}
else
{
unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
for (unsigned int i = 0; i < tmp_model_count; i++)
{
if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(i))
{
this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(i, model->GetId());
}
}
}
}
}

1108
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_100_single_gazebo_mpi_spawn_test.launch Normal file
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File diff suppressed because it is too large Load Diff

448
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_40_single_gazebo_mpi_spawn_test.launch Normal file
View File

@ -0,0 +1,448 @@
<!-- 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>
<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>
<group ns="bebop_30">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_30" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_30" />
<arg name="x" value="15.0" />
<arg name="y" value="0.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_31">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_31" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_31" />
<arg name="x" value="15.0" />
<arg name="y" value="5.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_32">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_32" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_32" />
<arg name="x" value="15.0" />
<arg name="y" value="10.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_33">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_33" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_33" />
<arg name="x" value="15.0" />
<arg name="y" value="15.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_34">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_34" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_34" />
<arg name="x" value="15.0" />
<arg name="y" value="20.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_35">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_35" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_35" />
<arg name="x" value="15.0" />
<arg name="y" value="25.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_36">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_36" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_36" />
<arg name="x" value="15.0" />
<arg name="y" value="30.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_37">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_37" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_37" />
<arg name="x" value="15.0" />
<arg name="y" value="35.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_38">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_38" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_38" />
<arg name="x" value="15.0" />
<arg name="y" value="40.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_39">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_39" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_39" />
<arg name="x" value="15.0" />
<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>

558
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_50_single_gazebo_mpi_spawn_test.launch Normal file
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@ -0,0 +1,558 @@
<!-- 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>
<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>
<group ns="bebop_30">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_30" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_30" />
<arg name="x" value="15.0" />
<arg name="y" value="0.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_31">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_31" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_31" />
<arg name="x" value="15.0" />
<arg name="y" value="5.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_32">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_32" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_32" />
<arg name="x" value="15.0" />
<arg name="y" value="10.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_33">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_33" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_33" />
<arg name="x" value="15.0" />
<arg name="y" value="15.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_34">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_34" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_34" />
<arg name="x" value="15.0" />
<arg name="y" value="20.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_35">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_35" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_35" />
<arg name="x" value="15.0" />
<arg name="y" value="25.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_36">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_36" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_36" />
<arg name="x" value="15.0" />
<arg name="y" value="30.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_37">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_37" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_37" />
<arg name="x" value="15.0" />
<arg name="y" value="35.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_38">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_38" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_38" />
<arg name="x" value="15.0" />
<arg name="y" value="40.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_39">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_39" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_39" />
<arg name="x" value="15.0" />
<arg name="y" value="45.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_40">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_40" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_40" />
<arg name="x" value="20.0" />
<arg name="y" value="0.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_41">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_41" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_41" />
<arg name="x" value="20.0" />
<arg name="y" value="5.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_42">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_42" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_42" />
<arg name="x" value="20.0" />
<arg name="y" value="10.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_43">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_43" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_43" />
<arg name="x" value="20.0" />
<arg name="y" value="15.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_44">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_44" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_44" />
<arg name="x" value="20.0" />
<arg name="y" value="20.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_45">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_45" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_45" />
<arg name="x" value="20.0" />
<arg name="y" value="25.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_46">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_46" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_46" />
<arg name="x" value="20.0" />
<arg name="y" value="30.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_47">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_47" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_47" />
<arg name="x" value="20.0" />
<arg name="y" value="35.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_48">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_48" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_48" />
<arg name="x" value="20.0" />
<arg name="y" value="40.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_49">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_49" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_49" />
<arg name="x" value="20.0" />
<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>

2
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_60_single_gazebo_mpi_spawn_test.launch
View File

@ -445,7 +445,7 @@
<group ns="bebop_40">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_140" />
<arg name="name" value="bebop_40" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_40" />
<arg name="x" value="20.0" />

385
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_100hector_mpi_test.world Normal file
View File

@ -0,0 +1,385 @@
<?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>
<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>
<model_name>bebop_30</model_name>
<model_name>bebop_31</model_name>
<model_name>bebop_32</model_name>
<model_name>bebop_33</model_name>
<model_name>bebop_34</model_name>
<model_name>bebop_35</model_name>
<model_name>bebop_36</model_name>
<model_name>bebop_37</model_name>
<model_name>bebop_38</model_name>
<model_name>bebop_39</model_name>
<model_name>bebop_40</model_name>
<model_name>bebop_41</model_name>
<model_name>bebop_42</model_name>
<model_name>bebop_43</model_name>
<model_name>bebop_44</model_name>
<model_name>bebop_45</model_name>
<model_name>bebop_46</model_name>
<model_name>bebop_47</model_name>
<model_name>bebop_48</model_name>
<model_name>bebop_49</model_name>
</gazebo_id>
<gazebo_id num=1>
<model_name>bebop_50</model_name>
<model_name>bebop_51</model_name>
<model_name>bebop_52</model_name>
<model_name>bebop_53</model_name>
<model_name>bebop_54</model_name>
<model_name>bebop_55</model_name>
<model_name>bebop_56</model_name>
<model_name>bebop_57</model_name>
<model_name>bebop_58</model_name>
<model_name>bebop_59</model_name>
<model_name>bebop_60</model_name>
<model_name>bebop_61</model_name>
<model_name>bebop_62</model_name>
<model_name>bebop_63</model_name>
<model_name>bebop_64</model_name>
<model_name>bebop_65</model_name>
<model_name>bebop_66</model_name>
<model_name>bebop_67</model_name>
<model_name>bebop_68</model_name>
<model_name>bebop_69</model_name>
<model_name>bebop_70</model_name>
<model_name>bebop_71</model_name>
<model_name>bebop_72</model_name>
<model_name>bebop_73</model_name>
<model_name>bebop_74</model_name>
<model_name>bebop_75</model_name>
<model_name>bebop_76</model_name>
<model_name>bebop_77</model_name>
<model_name>bebop_78</model_name>
<model_name>bebop_79</model_name>
<model_name>bebop_80</model_name>
<model_name>bebop_81</model_name>
<model_name>bebop_82</model_name>
<model_name>bebop_83</model_name>
<model_name>bebop_84</model_name>
<model_name>bebop_85</model_name>
<model_name>bebop_86</model_name>
<model_name>bebop_87</model_name>
<model_name>bebop_88</model_name>
<model_name>bebop_89</model_name>
<model_name>bebop_90</model_name>
<model_name>bebop_91</model_name>
<model_name>bebop_92</model_name>
<model_name>bebop_93</model_name>
<model_name>bebop_94</model_name>
<model_name>bebop_95</model_name>
<model_name>bebop_96</model_name>
<model_name>bebop_97</model_name>
<model_name>bebop_98</model_name>
<model_name>bebop_99</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>

325
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_40hector_mpi_test.world Normal file
View File

@ -0,0 +1,325 @@
<?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>
<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>
</gazebo_id>
<gazebo_id num=1>
<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>
<model_name>bebop_30</model_name>
<model_name>bebop_31</model_name>
<model_name>bebop_32</model_name>
<model_name>bebop_33</model_name>
<model_name>bebop_34</model_name>
<model_name>bebop_35</model_name>
<model_name>bebop_36</model_name>
<model_name>bebop_37</model_name>
<model_name>bebop_38</model_name>
<model_name>bebop_39</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>

335
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_50hector_mpi_test.world Normal file
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@ -0,0 +1,335 @@
<?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>
<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>
</gazebo_id>
<gazebo_id num=1>
<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>
<model_name>bebop_30</model_name>
<model_name>bebop_31</model_name>
<model_name>bebop_32</model_name>
<model_name>bebop_33</model_name>
<model_name>bebop_34</model_name>
<model_name>bebop_35</model_name>
<model_name>bebop_36</model_name>
<model_name>bebop_37</model_name>
<model_name>bebop_38</model_name>
<model_name>bebop_39</model_name>
<model_name>bebop_40</model_name>
<model_name>bebop_41</model_name>
<model_name>bebop_42</model_name>
<model_name>bebop_43</model_name>
<model_name>bebop_44</model_name>
<model_name>bebop_45</model_name>
<model_name>bebop_46</model_name>
<model_name>bebop_47</model_name>
<model_name>bebop_48</model_name>
<model_name>bebop_49</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>