modify_5
This commit is contained in:
zhangshuai
parent
b24155c526
commit
c0e54f156d
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@ -0,0 +1,4 @@
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localhost slots=2
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#anwen slots=2
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zhangshuai-ThinkPad-X250 slots=2
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@ -2,4 +2,11 @@ mpirun -machinefile ./machinefile -np 1 -x GAZEBO_MASTER_URI=http://localhost:11
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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
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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
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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
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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
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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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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
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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
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@ -0,0 +1,3 @@
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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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@ -8,8 +8,7 @@
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<arg name="gui" value="true"/>
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<arg name="gui" value="true"/>
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<arg name="verbose" value="false"/>
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<arg name="verbose" value="false"/>
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<arg name="debug" value="false"/>
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<arg name="debug" value="false"/>
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<arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport
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<arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport.world"/>
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.world"/>
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</include>
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</include>
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<group ns="bebop_0">
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<group ns="bebop_0">
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@ -0,0 +1,30 @@
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<!-- This is a launch file that runs the bare minimum requirements to get -->
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<!-- gazebo running for a fixed-wing aircraft -->
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<launch>
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<group ns="bebop_0">
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<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
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<arg name="name" value="bebop_0" />
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<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
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<arg name="tf_prefix" value="bebop_0" />
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<arg name="x" value="0.0" />
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<arg name="y" value="0.0" />
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<arg name="z" value="0.186" />
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</include>
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</group>
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<group ns="bebop_1">
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<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
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<arg name="name" value="bebop_1" />
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<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
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<arg name="tf_prefix" value="bebop_1" />
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<arg name="x" value="0.0" />
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<arg name="y" value="5.0" />
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<arg name="z" value="0.186" />
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</include>
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</group>
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<node name="simple_takeoff" pkg="hector" type="hector_simple_takeoff"/>
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</launch>
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@ -8,8 +8,7 @@
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<arg name="gui" value="true"/>
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<arg name="gui" value="true"/>
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<arg name="verbose" value="false"/>
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<arg name="verbose" value="false"/>
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<arg name="debug" value="false"/>
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<arg name="debug" value="false"/>
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<arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport
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<arg name="world_name" value="$(find hector_quadrotor_gazebo)/worlds/kunming_airport.world"/>
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.world"/>
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</include>
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</include>
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<group ns="bebop_0">
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<group ns="bebop_0">
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@ -3,13 +3,13 @@
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<launch>
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<launch>
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<group ns="bebop_2">
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<group ns="bebop_1">
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<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
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<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_1.launch">
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<arg name="name" value="bebop_2" />
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<arg name="name" value="bebop_1" />
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<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
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<arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
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<arg name="tf_prefix" value="bebop_2" />
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<arg name="tf_prefix" value="bebop_1" />
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<arg name="x" value="0" />
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<arg name="x" value="0" />
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<arg name="y" value="10" />
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<arg name="y" value="0" />
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<arg name="z" value="0.186" />
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<arg name="z" value="0.186" />
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</include>
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</include>
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</group>
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</group>
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<launch>
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<launch>
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<arg name="name" default="quadrotor"/>
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<arg name="name" default="quadrotor"/>
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<arg name="model" default="$(find hector_quadrotor_description)/urdf/box.gazebo.xacro"/>
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<arg name="model" default="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
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<arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
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<arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
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<arg name="controller_definition" default="$(find hector_quadrotor_controller)/launch/controller.launch"/>
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<arg name="controller_definition" default="$(find hector_quadrotor_controller)/launch/controller.launch"/>
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<?xml version="1.0"?>
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<launch>
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<arg name="name" default="quadrotor"/>
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<arg name="model" default="$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro"/>
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<arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
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<arg name="controller_definition" default="$(find hector_quadrotor_controller)/launch/controller.launch"/>
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<arg name="x" default="0.0"/>
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<arg name="y" default="0.0"/>
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<arg name="z" default="0.3"/>
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<arg name="use_ground_truth_for_tf" default="true" />
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<arg name="use_ground_truth_for_control" default="true" />
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<arg name="use_pose_estimation" if="$(arg use_ground_truth_for_control)" default="false"/>
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<arg name="use_pose_estimation" unless="$(arg use_ground_truth_for_control)" default="true"/>
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<arg name="world_frame" default="world"/> <!-- This should actually be "/world". See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/324 -->
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<arg name="base_link_frame" default="$(arg tf_prefix)/base_link"/>
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<!-- send the robot XML to param server -->
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<param name="robot_description" command="$(find xacro)/xacro '$(arg model)' name:=$(arg name) base_link_frame:=$(arg base_link_frame) world_frame:=$(arg world_frame)" />
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<param name="tf_prefix" type="string" value="$(arg tf_prefix)" />
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<param name="base_link_frame" type="string" value="$(arg base_link_frame)"/>
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<param name="world_frame" type="string" value="$(arg world_frame)"/>
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<!-- push robot_description to factory and spawn robot in gazebo -->
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<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model1"
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args="-param robot_description
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-urdf
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-x $(arg x)
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-y $(arg y)
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-z $(arg z)
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-model $(arg name)"
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respawn="false" output="screen"/>
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<!-- start robot state publisher -->
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<!-- <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
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<param name="publish_frequency" type="double" value="50.0" />
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</node> -->
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<!-- publish state and tf -->
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<!-- <node name="ground_truth_to_tf" pkg="message_to_tf" type="message_to_tf" output="screen">
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<param name="odometry_topic" value="ground_truth/state" />
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<param name="frame_id" value="/$(arg world_frame)" />
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<param name="tf_prefix" value="$(arg tf_prefix)" if="$(arg use_ground_truth_for_tf)" />
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<param name="tf_prefix" value="$(arg tf_prefix)/ground_truth" unless="$(arg use_ground_truth_for_tf)" />
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</node>
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<group if="$(arg use_pose_estimation)">
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<node name="pose_estimation" pkg="hector_quadrotor_pose_estimation" type="hector_quadrotor_pose_estimation" output="screen">
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<rosparam file="$(find hector_quadrotor_pose_estimation)/params/simulation.yaml" />
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<param name="nav_frame" value="$(arg tf_prefix)/nav" />
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<param name="publish_world_nav_transform" value="true" />
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<param name="tf_prefix" value="$(arg tf_prefix)" unless="$(arg use_ground_truth_for_tf)" />
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<param name="tf_prefix" value="$(arg tf_prefix)/pose_estimation" if="$(arg use_ground_truth_for_tf)" />
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</node>
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</group> -->
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<!-- spawn controller -->
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<group if="$(arg use_ground_truth_for_control)">
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<param name="controller/state_topic" value="" />
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<param name="controller/imu_topic" value="" />
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</group>
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<group unless="$(arg use_ground_truth_for_control)">
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<param name="controller/state_topic" value="state" />
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<param name="controller/imu_topic" value="imu" />
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</group>
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<include file="$(arg controller_definition)" />
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<arg name="motors" default="robbe_2827-34_epp1045" />
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<rosparam command="load" file="$(find hector_quadrotor_model)/param/quadrotor_aerodynamics.yaml" />
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<rosparam command="load" file="$(find hector_quadrotor_model)/param/$(arg motors).yaml" />
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</launch>
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<!-- <parallel method=0 numbers_of_thread=20 size_of_block=0 type=0 /> -->
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<!-- <parallel method=0 numbers_of_thread=20 size_of_block=0 type=0 /> -->
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<!-- <distributed type=0 ip="192.168.1.231" port=8888 flag=0 /> -->
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<!-- <distributed type=0 ip="192.168.1.231" port=8888 flag=0 /> -->
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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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<distribution gazebo_local_ID=0 port=8888 flag=0>
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<!--<distribution gazebo_local_ID=0 port=8888 flag=0>
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<gazebo_id num=0 ip="192.168.1.7">
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<gazebo_id num=0 ip="192.168.1.7">
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<model_name>bebop_0</model_name>
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<model_name>bebop_0</model_name>
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<model_name>bebop_1</model_name>
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<model_name>bebop_1</model_name>
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@ -53,7 +62,7 @@
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<model_name>bebop_13</model_name>
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<model_name>bebop_13</model_name>
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<model_name>bebop_14</model_name>
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<model_name>bebop_14</model_name>
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</gazebo_id>
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</gazebo_id>
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</distribution>
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</distribution>-->
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<!-- <actor name="animated_quadrotor_0">
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<!-- <actor name="animated_quadrotor_0">
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<include>
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<include>
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<uri>model://quadrotor</uri>
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<uri>model://quadrotor</uri>
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@ -0,0 +1,47 @@
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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>
|
||||||
|
<!-- <ode>
|
||||||
|
<solver>
|
||||||
|
<thread_position_correction>0</thread_position_correction>
|
||||||
|
<island_threads>8</island_threads>
|
||||||
|
</solver>
|
||||||
|
</ode> -->
|
||||||
|
</physics>
|
||||||
|
|
||||||
|
</world>
|
||||||
|
</sdf>
|
||||||
Loading…
Reference in New Issue