Add "kill.sh" "MPI_Gazebo_launch.sh" "mygzserver" three scripts to launch MPI_simulation task automatically under ROS-Gazebo framework
This commit is contained in:
zhangshuai
parent
6d92a1b9e7
commit
8df672a460
|
|
@ -0,0 +1,93 @@
|
|||
#!/bin/bash
|
||||
#########################################################################
|
||||
# Author: Zhang Shuai #
|
||||
# Date: 2019-05-23 #
|
||||
# Description: launch a MPI Gazebo simulation task #
|
||||
# Usage: ./MPI_Gazebo_launch.sh [hostfile] [world's path and name] #
|
||||
#########################################################################
|
||||
|
||||
host_file=$1
|
||||
world_file=$2
|
||||
|
||||
host_count=0
|
||||
hosts=()
|
||||
|
||||
#获取hostfile文件中的host名字
|
||||
while read line
|
||||
do
|
||||
if [ -n "$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
|
||||
|
||||
#登入各节点启动roscore （source还有改进空间，ROS运行的工作目录应该作为参数传进来）
|
||||
for((i=0;i<host_count;i++))
|
||||
do
|
||||
ssh -f -n ${hosts[$i]} "source ~/catkin_ws/devel/setup.bash;
|
||||
roscore;
|
||||
echo roscore_done!"
|
||||
echo "${hosts[$i]}:roscore_good"
|
||||
done
|
||||
|
||||
sleep 5s
|
||||
|
||||
#登入第一个节点启动MPI的gzserver，并成为各自节点上的ROS node
|
||||
ssh -f -n ${hosts[0]} "cd ~/MPI;
|
||||
mpiexec -hostfile hostfile -np 1 mygzserver $world_file : -np 1 mygzserver $world_file;
|
||||
echo mpiexec_done!"
|
||||
echo "${hosts[0]}:mpiexec_good"
|
||||
|
||||
sleep 20s
|
||||
|
||||
#登入各节点roslaunch加载模型（source还有改进空间，ROS运行的工作目录应该作为参数传进来）
|
||||
for((i=0;i<host_count;i++))
|
||||
do
|
||||
ssh -f -n ${hosts[$i]} "source ~/catkin_ws/devel/setup.bash;
|
||||
roslaunch hector_quadrotor_gazebo hector_2_single_gazebo_mpi_spawn_test.launch;
|
||||
echo roslaunch_done!"
|
||||
echo "${hosts[$i]}:roslaunch_good"
|
||||
done
|
||||
|
||||
sleep 20s
|
||||
|
||||
#登入各节点开始仿真
|
||||
for((i=0;i<host_count;i++))
|
||||
do
|
||||
ssh -f -n ${hosts[$i]} "gz world -p 0;
|
||||
echo start_done!;
|
||||
exit"
|
||||
echo "${hosts[$i]}:start_good"
|
||||
done
|
||||
|
||||
sleep 5m
|
||||
|
||||
#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 ~/MPI 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 ~/MPI;
|
||||
./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
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
zhangshuai-Desktop slots=1
|
||||
#anwen slots=2
|
||||
zhangshuai-Laptop slots=1
|
||||
anwen slots=1
|
||||
zhangshuai-ThinkPad-X250 slots=1
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,27 @@
|
|||
#!/bin/bash
|
||||
|
||||
pid=$(ps aux | grep roscore | grep -v grep | awk '{print $2}' | sort -n | head -n 1) # 获取进程号
|
||||
|
||||
echo "roscore command is running, pid:${pid}"
|
||||
|
||||
kill ${pid} && echo "roscore command is complete"
|
||||
|
||||
pid=$(ps aux | grep roslaunch | grep -v grep | awk '{print $2}' | sort -n | head -n 1) # 获取进程号
|
||||
|
||||
echo "roslaunch command is running, pid:${pid}"
|
||||
|
||||
kill ${pid} && echo "roslaunch command is complete"
|
||||
|
||||
pid=$(ps aux | grep mpiexec | grep -v grep | awk '{print $2}' | sort -n | head -n 1) # 获取进程号
|
||||
|
||||
echo "mpiexec command is running, pid:${pid}"
|
||||
|
||||
kill ${pid} && echo "mpiexec command is complete"
|
||||
|
||||
pid=$(ps aux | grep gzserver | grep -v grep | awk '{print $2}' | sort -n | head -n 1) # 获取进程号
|
||||
|
||||
echo "gzserver command is running, pid:${pid}"
|
||||
|
||||
kill ${pid} && echo "gzserver command is complete"
|
||||
|
||||
exit 0
|
||||
|
|
@ -0,0 +1,63 @@
|
|||
<?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=0>
|
||||
<gazebo_id num=0>
|
||||
<model_name>bebop_0</model_name>
|
||||
</gazebo_id>
|
||||
<gazebo_id num=1>
|
||||
<model_name>bebop_1</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 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_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>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,2 +0,0 @@
|
|||
localhost slots=2
|
||||
|
||||
|
|
@ -17,4 +17,6 @@ mpiexec -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo -u -e ode --ver
|
|||
mpiexec -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gzserver -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=xxx : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gzserver -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=yyy
|
||||
|
||||
|
||||
mpiexec -hostfile hostfile -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=xxx : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=yyy
|
||||
mpiexec -hostfile hostfile -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=xxx : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=yyy
|
||||
|
||||
mpiexec -hostfile hostfile -np 1 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=xxx : -np 1 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=yyy
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
#!/bin/bash
|
||||
|
||||
#echo ++++++++$1
|
||||
source /opt/ros/kinetic/setup.bash
|
||||
source ~/catkin_ws/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
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
#!/bin/sh
|
||||
|
||||
mpiexec -hostfile hostfile -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo --verbose /home/zhangshuai/Git/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_mpi_test.world : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gzserver --verbose /home/zhangshuai/Git/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_mpi_test.world
|
||||
Loading…
Reference in New Issue