From cf29f6c2bd11726696ab819776d01ae07a8e697c Mon Sep 17 00:00:00 2001
From: zhangshuai <zhangshuai9999@outlook.com>
Date: Thu, 30 May 2019 09:33:24 +0800
Subject: [PATCH] MPI_ALLGATHERV test2

---
 Gazebo_Distributed_MPI/gazebo/physics/World.cc      | 9 ++++++---
 Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh | 2 +-
 Gazebo_Distributed_MPI/mpi_run/hostfile             | 3 +--
 3 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/Gazebo_Distributed_MPI/gazebo/physics/World.cc b/Gazebo_Distributed_MPI/gazebo/physics/World.cc
index e1d7666..15675d7 100644
--- a/Gazebo_Distributed_MPI/gazebo/physics/World.cc
+++ b/Gazebo_Distributed_MPI/gazebo/physics/World.cc
@@ -935,8 +935,8 @@ void World::Update()
         std::string tmp_model_name = this->distribution->GetGazeboIDPtr(this->gazeboLocalID)->GetModelName(i);
 
         modelPose->set_name(tmp_model_name);
-        if (this->gazeboLocalID == tmp_gazebo_id)
-        {
+        // if (this->gazeboLocalID == tmp_gazebo_id)
+        // {
           modelPose->set_id(this->GetModel(tmp_model_name)->GetLink("canonical")->GetId());
           modelPose->mutable_position()->set_x(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().pos.x);
           modelPose->mutable_position()->set_y(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().pos.y);
@@ -945,7 +945,7 @@ void World::Update()
           modelPose->mutable_orientation()->set_y(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.y);
           modelPose->mutable_orientation()->set_z(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.z);
           modelPose->mutable_orientation()->set_w(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.w);
-        }
+        // }
 
         tmp_model_name.clear();
       }
@@ -1045,6 +1045,9 @@ void World::Update()
       }
     }
 
+    delete[] sendBuffer;
+    delete[] receiveBuffer;
+
     // Added by zhangshuai 2019.04.03 for count time ----Begin
 #ifdef USE_COUNT_TIME
     gettimeofday(&tv, NULL);
diff --git a/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh b/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh
index b94a9dd..4a0669d 100755
--- a/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh
+++ b/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh
@@ -81,7 +81,7 @@ do
     echo "${hosts[$i]}:start_good"
 done
 
-sleep 5m
+sleep 3m
 
 #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）
 for((i=0;i<host_count;i++))
diff --git a/Gazebo_Distributed_MPI/mpi_run/hostfile b/Gazebo_Distributed_MPI/mpi_run/hostfile
index 3ca26d4..e19ca44 100644
--- a/Gazebo_Distributed_MPI/mpi_run/hostfile
+++ b/Gazebo_Distributed_MPI/mpi_run/hostfile
@@ -1,4 +1,3 @@
+anwen slots=1
 airc02-PowerEdge-T640 slots=1
-airc03-PowerEdge-T640 slots=1
-