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add 60 hectors test case and next version will be MPI_ALLGATHER

This commit is contained in:
zhangshuai 2019-05-29 14:04:21 +08:00
parent 9bf67bcffe
commit be425e781a
3 changed files with 1013 additions and 0 deletions
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Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/src/gazebo_ros/gazebo_interface.pyc Normal file
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Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_60_single_gazebo_mpi_spawn_test.launch Normal file
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<!-- This is a launch file that runs the bare minimum requirements to get -->
<!-- gazebo running for a fixed-wing aircraft -->
<launch>
<group ns="bebop_0">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_0" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_0" />
<arg name="x" value="0.0" />
<arg name="y" value="0.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_1">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_1" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_1" />
<arg name="x" value="0.0" />
<arg name="y" value="5.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_2">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_2" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_2" />
<arg name="x" value="0.0" />
<arg name="y" value="10.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_3">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_3" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_3" />
<arg name="x" value="0.0" />
<arg name="y" value="15.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_4">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_4" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_4" />
<arg name="x" value="0.0" />
<arg name="y" value="20.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_5">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_5" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_5" />
<arg name="x" value="0.0" />
<arg name="y" value="25.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_6">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_6" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_6" />
<arg name="x" value="0.0" />
<arg name="y" value="30.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_7">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_7" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_7" />
<arg name="x" value="0.0" />
<arg name="y" value="35.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_8">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_8" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_8" />
<arg name="x" value="0.0" />
<arg name="y" value="40.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_9">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_9" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_9" />
<arg name="x" value="0.0" />
<arg name="y" value="45.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_10">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_10" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_10" />
<arg name="x" value="5.0" />
<arg name="y" value="0.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_11">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_11" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_11" />
<arg name="x" value="5.0" />
<arg name="y" value="5.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_12">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_12" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_12" />
<arg name="x" value="5.0" />
<arg name="y" value="10.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_13">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_13" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_13" />
<arg name="x" value="5.0" />
<arg name="y" value="15.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_14">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_14" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_14" />
<arg name="x" value="5.0" />
<arg name="y" value="20.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_15">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_15" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_15" />
<arg name="x" value="5.0" />
<arg name="y" value="25.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_16">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_16" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_16" />
<arg name="x" value="5.0" />
<arg name="y" value="30.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_17">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_17" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_17" />
<arg name="x" value="5.0" />
<arg name="y" value="35.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_18">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_18" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_18" />
<arg name="x" value="5.0" />
<arg name="y" value="40.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_19">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_19" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_19" />
<arg name="x" value="5.0" />
<arg name="y" value="45.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_20">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_20" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_20" />
<arg name="x" value="10.0" />
<arg name="y" value="0.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_21">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_21" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_21" />
<arg name="x" value="10.0" />
<arg name="y" value="5.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_22">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_22" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_22" />
<arg name="x" value="10.0" />
<arg name="y" value="10.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_23">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_23" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_23" />
<arg name="x" value="10.0" />
<arg name="y" value="15.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_24">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_24" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_24" />
<arg name="x" value="10.0" />
<arg name="y" value="20.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_25">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_25" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_25" />
<arg name="x" value="10.0" />
<arg name="y" value="25.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_26">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_26" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_26" />
<arg name="x" value="10.0" />
<arg name="y" value="30.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_27">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_27" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_27" />
<arg name="x" value="10.0" />
<arg name="y" value="35.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_28">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_28" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_28" />
<arg name="x" value="10.0" />
<arg name="y" value="40.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_29">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_29" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_29" />
<arg name="x" value="10.0" />
<arg name="y" value="45.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_30">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_30" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_30" />
<arg name="x" value="15.0" />
<arg name="y" value="0.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_31">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_31" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_31" />
<arg name="x" value="15.0" />
<arg name="y" value="5.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_32">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_32" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_32" />
<arg name="x" value="15.0" />
<arg name="y" value="10.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_33">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_33" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_33" />
<arg name="x" value="15.0" />
<arg name="y" value="15.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_34">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_34" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_34" />
<arg name="x" value="15.0" />
<arg name="y" value="20.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_35">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_35" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_35" />
<arg name="x" value="15.0" />
<arg name="y" value="25.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_36">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_36" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_36" />
<arg name="x" value="15.0" />
<arg name="y" value="30.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_37">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_37" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_37" />
<arg name="x" value="15.0" />
<arg name="y" value="35.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_38">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_38" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_38" />
<arg name="x" value="15.0" />
<arg name="y" value="40.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_39">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_39" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_39" />
<arg name="x" value="15.0" />
<arg name="y" value="45.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_40">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_140" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_40" />
<arg name="x" value="20.0" />
<arg name="y" value="0.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_41">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_41" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_41" />
<arg name="x" value="20.0" />
<arg name="y" value="5.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_42">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_42" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_42" />
<arg name="x" value="20.0" />
<arg name="y" value="10.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_43">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_43" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_43" />
<arg name="x" value="20.0" />
<arg name="y" value="15.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_44">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_44" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_44" />
<arg name="x" value="20.0" />
<arg name="y" value="20.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_45">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_45" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_45" />
<arg name="x" value="20.0" />
<arg name="y" value="25.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_46">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_46" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_46" />
<arg name="x" value="20.0" />
<arg name="y" value="30.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_47">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_47" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_47" />
<arg name="x" value="20.0" />
<arg name="y" value="35.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_48">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_48" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_48" />
<arg name="x" value="20.0" />
<arg name="y" value="40.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_49">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_49" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_49" />
<arg name="x" value="20.0" />
<arg name="y" value="45.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_50">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_50" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_50" />
<arg name="x" value="25.0" />
<arg name="y" value="0.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_51">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_51" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_51" />
<arg name="x" value="25.0" />
<arg name="y" value="5.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_52">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_52" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_52" />
<arg name="x" value="25.0" />
<arg name="y" value="10.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_53">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_53" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_53" />
<arg name="x" value="25.0" />
<arg name="y" value="15.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_54">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_54" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_54" />
<arg name="x" value="25.0" />
<arg name="y" value="20.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_55">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_55" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_55" />
<arg name="x" value="25.0" />
<arg name="y" value="25.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_56">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_56" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_56" />
<arg name="x" value="25.0" />
<arg name="y" value="30.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_57">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_57" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_57" />
<arg name="x" value="25.0" />
<arg name="y" value="35.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_58">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_58" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_58" />
<arg name="x" value="25.0" />
<arg name="y" value="40.0" />
<arg name="z" value="0.186" />
</include>
</group>
<group ns="bebop_59">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_59" />
<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" value="bebop_59" />
<arg name="x" value="25.0" />
<arg name="y" value="45.0" />
<arg name="z" value="0.186" />
</include>
</group>
<node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
</launch>

345
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_60hector_mpi_test.world Normal file
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@ -0,0 +1,345 @@
<?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=1>
<gazebo_id num=0>
<model_name>bebop_0</model_name>
<model_name>bebop_1</model_name>
<model_name>bebop_2</model_name>
<model_name>bebop_3</model_name>
<model_name>bebop_4</model_name>
<model_name>bebop_5</model_name>
<model_name>bebop_6</model_name>
<model_name>bebop_7</model_name>
<model_name>bebop_8</model_name>
<model_name>bebop_9</model_name>
<model_name>bebop_10</model_name>
<model_name>bebop_11</model_name>
<model_name>bebop_12</model_name>
<model_name>bebop_13</model_name>
<model_name>bebop_14</model_name>
<model_name>bebop_15</model_name>
<model_name>bebop_16</model_name>
<model_name>bebop_17</model_name>
<model_name>bebop_18</model_name>
<model_name>bebop_19</model_name>
<model_name>bebop_20</model_name>
<model_name>bebop_21</model_name>
<model_name>bebop_22</model_name>
<model_name>bebop_23</model_name>
<model_name>bebop_24</model_name>
<model_name>bebop_25</model_name>
<model_name>bebop_26</model_name>
<model_name>bebop_27</model_name>
<model_name>bebop_28</model_name>
<model_name>bebop_29</model_name>
</gazebo_id>
<gazebo_id num=1>
<model_name>bebop_30</model_name>
<model_name>bebop_31</model_name>
<model_name>bebop_32</model_name>
<model_name>bebop_33</model_name>
<model_name>bebop_34</model_name>
<model_name>bebop_35</model_name>
<model_name>bebop_36</model_name>
<model_name>bebop_37</model_name>
<model_name>bebop_38</model_name>
<model_name>bebop_39</model_name>
<model_name>bebop_40</model_name>
<model_name>bebop_41</model_name>
<model_name>bebop_42</model_name>
<model_name>bebop_43</model_name>
<model_name>bebop_44</model_name>
<model_name>bebop_45</model_name>
<model_name>bebop_46</model_name>
<model_name>bebop_47</model_name>
<model_name>bebop_48</model_name>
<model_name>bebop_49</model_name>
<model_name>bebop_50</model_name>
<model_name>bebop_51</model_name>
<model_name>bebop_52</model_name>
<model_name>bebop_53</model_name>
<model_name>bebop_54</model_name>
<model_name>bebop_55</model_name>
<model_name>bebop_56</model_name>
<model_name>bebop_57</model_name>
<model_name>bebop_58</model_name>
<model_name>bebop_59</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 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>
</sdf>