From 8b1c77a2fa53dc0098444ebabfc4877d236bfd42 Mon Sep 17 00:00:00 2001
From: zhangshuai <zhangshuai9999@outlook.com>
Date: Mon, 26 Aug 2019 17:05:50 +0800
Subject: [PATCH] 1. MPI_Allgatherv, version 0.6.1 2. a little modification in
 MPI_Gazebo_launch.sh and mygzserver 3. add MPI_Gazebo_end.sh to kill
 simulation quickly

---
 .../mpi_run/MPI_Gazebo_end.sh                 | 51 +++++++++++++++++++
 .../mpi_run/MPI_Gazebo_launch.sh              |  6 +--
 Gazebo_Distributed_MPI/mpi_run/mygzserver     |  2 +-
 3 files changed, 55 insertions(+), 4 deletions(-)
 create mode 100755 Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_end.sh

diff --git a/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_end.sh b/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_end.sh
new file mode 100755
index 0000000..e329e26
--- /dev/null
+++ b/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_end.sh
@@ -0,0 +1,51 @@
+#!/bin/bash
+#####################################################################################################################################
+#   Author: Zhang Shuai                                                                                                             #
+#   Date:   2019-08-26                                                                                                              #
+#   Description:    End a MPI Gazebo simulation task                                                                                #
+#   Usage:  ./MPI_Gazebo_end.sh [hostfile]                                                                                          #
+#####################################################################################################################################
+
+host_file=$1
+
+host_count=0
+hosts=()
+
+#获取hostfile文件中的host名字
+while read line
+do
+    if [ -n "$line" ]
+    then
+        temp=${line% *}
+        hosts[$host_count]=$temp
+        let host_count=$host_count+1
+    fi
+done < $host_file
+
+echo "host_count:$host_count"
+
+for((i=0;i<host_count;i++))
+do
+    echo "host_name:${hosts[$i]}"
+done
+
+#登入各节点kill相关进程以结束仿真（1.目前方式比较暴力，后续改进；2.cd ~/Git/Gazebo_Distributed_MPI/mpi_run 还要进行灵活性优化）
+for((i=0;i<host_count;i++))
+do
+    ssh -f -n ${hosts[$i]} > /dev/null 2>&1 "cd ~/Git/Gazebo_Distributed_MPI/mpi_run;
+    ./kill.sh;
+    ./kill.sh;
+    ./kill.sh;
+    ./kill.sh;
+    ./kill.sh;
+    ./kill.sh;
+    ./kill.sh;
+    ./kill.sh;
+    ./kill.sh;
+    exit"
+    echo "${hosts[$i]}:close_good"
+done
+
+echo simulation_done!
+
+exit 0
\ No newline at end of file
diff --git a/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh b/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh
index 664ce9e..23ffd8a 100755
--- a/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh
+++ b/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh
@@ -52,11 +52,11 @@ sleep 5s
 
 #登入第一个节点启动MPI的gzserver，并成为各自节点上的ROS node
 ssh -f -n ${hosts[0]} "cd ~/Git/Gazebo_Distributed_MPI/mpi_run;
-mpiexec -hostfile $host_file -np 1 mygzserver $world_file $workspace_path : -np 1 mygzserver $world_file $workspace_path;
+mpiexec --mca btl_tcp_if_exclude docker0 -hostfile $host_file -np 1 mygzserver $world_file $workspace_path : -np 1 mygzserver $world_file $workspace_path;
 echo mpiexec_done!"
 echo "${hosts[0]}:mpiexec_good"
 
-sleep 20s
+sleep 10s
 
 #登入各节点roslaunch加载模型（source还有改进空间，ROS运行的工作目录应该作为参数传进来）
 for((i=0;i<host_count;i++))
@@ -70,7 +70,7 @@ do
     echo "${hosts[$i]}:roslaunch_good"
 done
 
-sleep 40s
+sleep 20s
 
 #登入各节点开始仿真
 for((i=0;i<host_count;i++))
diff --git a/Gazebo_Distributed_MPI/mpi_run/mygzserver b/Gazebo_Distributed_MPI/mpi_run/mygzserver
index 4eb9474..9941188 100755
--- a/Gazebo_Distributed_MPI/mpi_run/mygzserver
+++ b/Gazebo_Distributed_MPI/mpi_run/mygzserver
@@ -6,4 +6,4 @@ source $2/devel/setup.bash
 
 export DISPLAY=:0.0
 
-gzserver -u -e ode --verbose $1 -s /opt/ros/kinetic/lib/libgazebo_ros_paths_plugin.so -s /opt/ros/kinetic/lib/libgazebo_ros_api_plugin.so
+/usr/local/bin/gzserver -u -e ode --verbose $1 -s /opt/ros/kinetic/lib/libgazebo_ros_paths_plugin.so -s /opt/ros/kinetic/lib/libgazebo_ros_api_plugin.so