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This commit is contained in:
zhangshuai 2019-05-10 09:59:00 +08:00
parent b24155c526
commit c0e54f156d
11 changed files with 185 additions and 13 deletions
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4
Gazebo_Distributed_MPI/mpi_run/hostfile Normal file
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localhost slots=2
#anwen slots=2
zhangshuai-ThinkPad-X250 slots=2

9
Gazebo_Distributed_MPI/mpi_run/mpirun_test.sh
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@ -2,4 +2,11 @@ mpirun -machinefile ./machinefile -np 1 -x GAZEBO_MASTER_URI=http://localhost:11
mpirun -machinefile ./machinefile -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gazebo --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world
mpirun -machinefile ./machinefile -np 2 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world : -np 2 -x GAZEBO_MASTER_URI=http://localhost:11347 gazebo --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world : -np 2 -x GAZEBO_MASTER_URI=http://localhost:11348 gazebo --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world
mpirun -machinefile ./machinefile -np 2 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world : -np 2 -x GAZEBO_MASTER_URI=http://localhost:11347 gazebo --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world : -np 2 -x GAZEBO_MASTER_URI=http://localhost:11348 gazebo --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world
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
mpiexec -hostfile hostfile -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gzserver -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/empty_origin.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 : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gzserver -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/empty_origin.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
mpiexec -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport.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 -gname xxx : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gazebo -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport.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 -gname yyy

3
Gazebo_Distributed_MPI/mpi_run/try.sh Executable file
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@ -0,0 +1,3 @@
#!/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

3
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo.launch
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@ -8,8 +8,7 @@
<arg name="gui" value="true"/>
<arg name="verbose" value="false"/>
<arg name="debug" value="false"/>
<arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport
.world"/>
<arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport.world"/>
</include>
<group ns="bebop_0">

30
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_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>
<node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
</launch>

3
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_4_single_gazebo.launch
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@ -8,8 +8,7 @@
<arg name="gui" value="true"/>
<arg name="verbose" value="false"/>
<arg name="debug" value="false"/>
<arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport
.world"/>
<arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport.world"/>
</include>
<group ns="bebop_0">

10
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_add_1_test.launch
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@ -3,13 +3,13 @@
<launch>
<group ns="bebop_2">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="name" value="bebop_2" />
<group ns="bebop_1">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.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_2" />
<arg name="tf_prefix" value="bebop_1" />
<arg name="x" value="0" />
<arg name="y" value="10" />
<arg name="y" value="0" />
<arg name="z" value="0.186" />
</include>
</group>

2
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor.launch
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@ -2,7 +2,7 @@
<launch>
<arg name="name" default="quadrotor"/>
<arg name="model" default="$(find hector_quadrotor_description)/urdf/box.gazebo.xacro"/>
<arg name="model" default="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
<arg name="controller_definition" default="$(find hector_quadrotor_controller)/launch/controller.launch"/>

74
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_1.launch Normal file
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@ -0,0 +1,74 @@
<?xml version="1.0"?>
<launch>
<arg name="name" default="quadrotor"/>
<arg name="model" default="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
<arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
<arg name="controller_definition" default="$(find hector_quadrotor_controller)/launch/controller.launch"/>
<arg name="x" default="0.0"/>
<arg name="y" default="0.0"/>
<arg name="z" default="0.3"/>
<arg name="use_ground_truth_for_tf" default="true" />
<arg name="use_ground_truth_for_control" default="true" />
<arg name="use_pose_estimation" if="$(arg use_ground_truth_for_control)" default="false"/>
<arg name="use_pose_estimation" unless="$(arg use_ground_truth_for_control)" default="true"/>
<arg name="world_frame" default="world"/> <!-- This should actually be "/world". See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/324 -->
<arg name="base_link_frame" default="$(arg tf_prefix)/base_link"/>
<!-- send the robot XML to param server -->
<param name="robot_description" command="$(find xacro)/xacro '$(arg model)' name:=$(arg name) base_link_frame:=$(arg base_link_frame) world_frame:=$(arg world_frame)" />
<param name="tf_prefix" type="string" value="$(arg tf_prefix)" />
<param name="base_link_frame" type="string" value="$(arg base_link_frame)"/>
<param name="world_frame" type="string" value="$(arg world_frame)"/>
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model1"
args="-param robot_description
-urdf
-x $(arg x)
-y $(arg y)
-z $(arg z)
-model $(arg name)"
respawn="false" output="screen"/>
<!-- start robot state publisher -->
<!-- <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node> -->
<!-- publish state and tf -->
<!-- <node name="ground_truth_to_tf" pkg="message_to_tf" type="message_to_tf" output="screen">
<param name="odometry_topic" value="ground_truth/state" />
<param name="frame_id" value="/$(arg world_frame)" />
<param name="tf_prefix" value="$(arg tf_prefix)" if="$(arg use_ground_truth_for_tf)" />
<param name="tf_prefix" value="$(arg tf_prefix)/ground_truth" unless="$(arg use_ground_truth_for_tf)" />
</node>
<group if="$(arg use_pose_estimation)">
<node name="pose_estimation" pkg="hector_quadrotor_pose_estimation" type="hector_quadrotor_pose_estimation" output="screen">
<rosparam file="$(find hector_quadrotor_pose_estimation)/params/simulation.yaml" />
<param name="nav_frame" value="$(arg tf_prefix)/nav" />
<param name="publish_world_nav_transform" value="true" />
<param name="tf_prefix" value="$(arg tf_prefix)" unless="$(arg use_ground_truth_for_tf)" />
<param name="tf_prefix" value="$(arg tf_prefix)/pose_estimation" if="$(arg use_ground_truth_for_tf)" />
</node>
</group> -->
<!-- spawn controller -->
<group if="$(arg use_ground_truth_for_control)">
<param name="controller/state_topic" value="" />
<param name="controller/imu_topic" value="" />
</group>
<group unless="$(arg use_ground_truth_for_control)">
<param name="controller/state_topic" value="state" />
<param name="controller/imu_topic" value="imu" />
</group>
<include file="$(arg controller_definition)" />
<arg name="motors" default="robbe_2827-34_epp1045" />
<rosparam command="load" file="$(find hector_quadrotor_model)/param/quadrotor_aerodynamics.yaml" />
<rosparam command="load" file="$(find hector_quadrotor_model)/param/$(arg motors).yaml" />
</launch>

13
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport.world
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@ -30,8 +30,17 @@
<!-- <parallel method=0 numbers_of_thread=20 size_of_block=0 type=0 /> -->
<!-- <distributed type=0 ip="192.168.1.231" port=8888 flag=0 /> -->
<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>
<distribution gazebo_local_ID=0 port=8888 flag=0>
<!--<distribution gazebo_local_ID=0 port=8888 flag=0>
<gazebo_id num=0 ip="192.168.1.7">
<model_name>bebop_0</model_name>
<model_name>bebop_1</model_name>
@ -53,7 +62,7 @@
<model_name>bebop_13</model_name>
<model_name>bebop_14</model_name>
</gazebo_id>
</distribution>
</distribution>-->
<!-- <actor name="animated_quadrotor_0">
<include>
<uri>model://quadrotor</uri>

47
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_mpi_test.world Normal file
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@ -0,0 +1,47 @@
<?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>
</world>
</sdf>