Add "kill.sh" "MPI_Gazebo_launch.sh" "mygzserver" three scripts to launch MPI_simulation task automatically under ROS-Gazebo framework

Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh

@@ -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

Gazebo_Distributed_MPI/mpi_run/hostfile

@@ -1,4 +1,4 @@
-zhangshuai-Desktop slots=1
+anwen slots=1
-#anwen slots=2
+zhangshuai-ThinkPad-X250 slots=1
-zhangshuai-Laptop slots=1
+
 

Gazebo_Distributed_MPI/mpi_run/kill.sh

@@ -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

Gazebo_Distributed_MPI/mpi_run/kunming_airport_single_2hector.world

@@ -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>

Gazebo_Distributed_MPI/mpi_run/machinefile

@@ -1,2 +0,0 @@
-localhost slots=2
-

Gazebo_Distributed_MPI/mpi_run/mpirun_test.sh

@@ -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

Gazebo_Distributed_MPI/mpi_run/mygzserver

@@ -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

Gazebo_Distributed_MPI/mpi_run/try.sh

@@ -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