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This commit is contained in:
zhangshuai 2019-04-28 21:37:07 +08:00
parent e993804f58
commit ada6266e79
3 changed files with 345 additions and 7 deletions
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80
Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_10hector_tcp_test.world
View File

@ -51,5 +51,85 @@
</ode> --> </ode> -->
</physics> </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>
</world> </world>
</sdf> </sdf>

240
Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_tcp_test.world
View File

@ -71,5 +71,245 @@
</ode> --> </ode> -->
</physics> </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> </world>
</sdf> </sdf>

30
Gazebo_Distributed_TCP/gazebo/physics/World.cc
View File

@ -958,11 +958,11 @@ void World::Update()
{ {
std::string tmp_model_name = this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelName(i); std::string tmp_model_name = this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelName(i);
unsigned int j = 0; unsigned int j = 0;
for (j = 0; j < this->GetModel(tmp_model_name)->GetLink("base_link")->GetName().length(); j++) for (j = 0; j < this->GetModel(tmp_model_name)->GetLink("canonical")->GetName().length(); j++)
infor[i].link_name[j] = this->GetModel(tmp_model_name)->GetLink("base_link")->GetName()[j]; infor[i].link_name[j] = this->GetModel(tmp_model_name)->GetLink("canonical")->GetName()[j];
infor[i].link_name[j] = '\0'; infor[i].link_name[j] = '\0';
infor[i].ID = this->GetModel(tmp_model_name)->GetLink("base_link")->GetId(); infor[i].ID = this->GetModel(tmp_model_name)->GetLink("canonical")->GetId();
infor[i].link_pose = this->GetModel(tmp_model_name)->GetLink("base_link")->GetWorldPose(); infor[i].link_pose = this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose();
} }
CommunicationData temp[50]; CommunicationData temp[50];
@ -1005,7 +1005,7 @@ void World::Update()
for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(1)->GetModelCount(); i++) for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(1)->GetModelCount(); i++)
{ {
std::string tmp_model_name = this->distribution->GetGazeboIDPtr(1)->GetModelName(i); std::string tmp_model_name = this->distribution->GetGazeboIDPtr(1)->GetModelName(i);
this->GetModel(tmp_model_name)->GetLink("base_link")->SetWorldPose(temp[i].link_pose); this->GetModel(tmp_model_name)->GetLink("canonical")->SetWorldPose(temp[i].link_pose);
} }
// Added by zhangshuai 2019.04.03 for count time ----Begin // Added by zhangshuai 2019.04.03 for count time ----Begin
@ -1046,7 +1046,7 @@ void World::Update()
for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(0)->GetModelCount(); i++) for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(0)->GetModelCount(); i++)
{ {
std::string tmp_model_name = this->distribution->GetGazeboIDPtr(0)->GetModelName(i); std::string tmp_model_name = this->distribution->GetGazeboIDPtr(0)->GetModelName(i);
this->GetModel(tmp_model_name)->GetLink("base_link")->SetWorldPose(temp[i].link_pose); this->GetModel(tmp_model_name)->GetLink("canonical")->SetWorldPose(temp[i].link_pose);
} }
// Added by zhangshuai 2019.04.03 for count time ----Begin // Added by zhangshuai 2019.04.03 for count time ----Begin
@ -1862,7 +1862,25 @@ void World::LoadPlugins()
{ {
ModelPtr model = boost::static_pointer_cast<Model>( ModelPtr model = boost::static_pointer_cast<Model>(
this->dataPtr->rootElement->GetChild(i)); this->dataPtr->rootElement->GetChild(i));
// Modified by zhangshuai 2019.04.02 ----Begin
if (this->flag == 1)
{
// Judge if the model to load is simulated in this gazebo
for (unsigned int j = 0; j < this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount(); j++)
{
if (model->GetName() == this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelName(j))
{
// Original part
model->LoadPlugins(); model->LoadPlugins();
// Original part
}
}
}
else
{
model->LoadPlugins();
}
// Modified by zhangshuai 2019.04.02 ----End
} }
} }
} }