Add "kill.sh" "MPI_Gazebo_launch.sh" "mygzserver" three scripts to launch MPI_simulation task automatically under ROS-Gazebo framework
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zhangshuai
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6d92a1b9e7
commit
8df672a460
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#!/bin/bash
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#########################################################################
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# Author: Zhang Shuai #
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# Date: 2019-05-23 #
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# Description: launch a MPI Gazebo simulation task #
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# Usage: ./MPI_Gazebo_launch.sh [hostfile] [world's path and name] #
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#########################################################################
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host_file=$1
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world_file=$2
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host_count=0
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hosts=()
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#获取hostfile文件中的host名字
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while read line
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do
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if [ -n "$line" ]
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then
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temp=${line% *}
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hosts[$host_count]=$temp
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let host_count=$host_count+1
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fi
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done < $host_file
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echo "host_count:$host_count"
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for((i=0;i<host_count;i++))
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do
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echo "host_name:${hosts[$i]}"
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done
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#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）
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for((i=0;i<host_count;i++))
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do
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ssh -f -n ${hosts[$i]} "source ~/catkin_ws/devel/setup.bash;
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roscore;
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echo roscore_done!"
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echo "${hosts[$i]}:roscore_good"
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done
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sleep 5s
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#登入第一个节点启动MPI的gzserver，并成为各自节点上的ROS node
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ssh -f -n ${hosts[0]} "cd ~/MPI;
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mpiexec -hostfile hostfile -np 1 mygzserver $world_file : -np 1 mygzserver $world_file;
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echo mpiexec_done!"
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echo "${hosts[0]}:mpiexec_good"
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sleep 20s
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#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）
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for((i=0;i<host_count;i++))
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do
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ssh -f -n ${hosts[$i]} "source ~/catkin_ws/devel/setup.bash;
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roslaunch hector_quadrotor_gazebo hector_2_single_gazebo_mpi_spawn_test.launch;
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echo roslaunch_done!"
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echo "${hosts[$i]}:roslaunch_good"
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done
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sleep 20s
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#登入各节点开始仿真
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for((i=0;i<host_count;i++))
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do
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ssh -f -n ${hosts[$i]} "gz world -p 0;
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echo start_done!;
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exit"
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echo "${hosts[$i]}:start_good"
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done
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sleep 5m
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#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）
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for((i=0;i<host_count;i++))
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do
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ssh -f -n ${hosts[$i]} > /dev/null 2>&1 "cd ~/MPI;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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exit"
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echo "${hosts[$i]}:close_good"
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done
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echo simulation_done!
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exit 0
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@ -1,4 +1,4 @@
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zhangshuai-Desktop slots=1
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#anwen slots=2
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zhangshuai-Laptop slots=1
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anwen slots=1
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zhangshuai-ThinkPad-X250 slots=1
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@ -0,0 +1,27 @@
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#!/bin/bash
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pid=$(ps aux | grep roscore | grep -v grep | awk '{print $2}' | sort -n | head -n 1) # 获取进程号
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echo "roscore command is running, pid:${pid}"
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kill ${pid} && echo "roscore command is complete"
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pid=$(ps aux | grep roslaunch | grep -v grep | awk '{print $2}' | sort -n | head -n 1) # 获取进程号
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echo "roslaunch command is running, pid:${pid}"
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kill ${pid} && echo "roslaunch command is complete"
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pid=$(ps aux | grep mpiexec | grep -v grep | awk '{print $2}' | sort -n | head -n 1) # 获取进程号
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echo "mpiexec command is running, pid:${pid}"
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kill ${pid} && echo "mpiexec command is complete"
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pid=$(ps aux | grep gzserver | grep -v grep | awk '{print $2}' | sort -n | head -n 1) # 获取进程号
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echo "gzserver command is running, pid:${pid}"
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kill ${pid} && echo "gzserver command is complete"
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exit 0
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@ -0,0 +1,63 @@
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<include>
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<uri>model://kunming_airport</uri>
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<pose>0 0 0 0 0 0</pose>
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</include>
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<scene>
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<ambient>0.68 0.68 0.68 1.0</ambient>
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<sky>
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<sunrise/>
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<clouds>
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<speed>0</speed>
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</clouds>
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</sky>
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</scene>
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<!-- For distributed simulation -->
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<distribution flag=0>
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<gazebo_id num=0>
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<model_name>bebop_0</model_name>
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</gazebo_id>
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<gazebo_id num=1>
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<model_name>bebop_1</model_name>
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</gazebo_id>
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</distribution>
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<physics type="ode" name="ode">
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<real_time_update_rate>0</real_time_update_rate>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>0</real_time_factor>
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<!-- <ode>
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<solver>
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<thread_position_correction>0</thread_position_correction>
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<island_threads>8</island_threads>
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</solver>
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</ode> -->
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</physics>
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<model name="bebop_0">
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<pose>0 5 0.186 0 0 0</pose>
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<include>
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<uri>model://quadrotor</uri>
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</include>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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</model>
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<model name="bebop_1">
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<pose>0 -5 0.186 0 0 0</pose>
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<include>
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<uri>model://quadrotor</uri>
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</include>
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<plugin name="takeoff" filename="/home/zhangshuai/gazebo_plugin_tutorial/takeoff/build/libtakeoff.so"/>
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</model>
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</world>
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</sdf>
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File diff suppressed because it is too large
Load Diff
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@ -1,2 +0,0 @@
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localhost slots=2
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@ -18,3 +18,5 @@ mpiexec -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gzserver -u -e ode --v
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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
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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
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@ -0,0 +1,9 @@
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#!/bin/bash
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#echo ++++++++$1
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source /opt/ros/kinetic/setup.bash
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source ~/catkin_ws/devel/setup.bash
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export DISPLAY=:0.0
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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
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#!/bin/sh
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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
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