diff --git a/Gazebo_Distributed_MPI/gazebo/physics/World.cc b/Gazebo_Distributed_MPI/gazebo/physics/World.cc
index e639a2f..025f193 100644
--- a/Gazebo_Distributed_MPI/gazebo/physics/World.cc
+++ b/Gazebo_Distributed_MPI/gazebo/physics/World.cc
@@ -1069,7 +1069,7 @@ void World::Update()
 #endif
 
   // std::cout << "===== iterations:\t" << this->dataPtr->iterations << std::endl;
-  if (this->dataPtr->iterations == 1000000)
+  if (this->dataPtr->iterations == 100000)
   {
     if (this->gazeboLocalID == 0)
     {
diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_10hector_mpi.world b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_10hector_mpi_test.world
similarity index 100%
rename from Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_10hector_mpi.world
rename to Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_10hector_mpi_test.world
diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_mpi.world b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_10hector_tcp_test.world
similarity index 77%
rename from Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_mpi.world
rename to Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_10hector_tcp_test.world
index d0c7bac..8a90f3c 100644
--- a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_mpi.world
+++ b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_10hector_tcp_test.world
@@ -22,14 +22,20 @@
     </scene>
     
     <!-- For distributed simulation -->
-    <distribution flag=1>
+    <distribution gazebo_local_ID=0 port=8888 flag=1>
       <gazebo_id num=0 ip="192.168.1.7">
         <model_name>bebop_0</model_name>
         <model_name>bebop_1</model_name>
-      </gazebo_id>
-      <gazebo_id num=1 ip="192.168.1.4">
         <model_name>bebop_2</model_name>
         <model_name>bebop_3</model_name>
+        <model_name>bebop_4</model_name>
+      </gazebo_id>
+      <gazebo_id num=1 ip="192.168.1.8">
+        <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>
       </gazebo_id>
     </distribution>
 
diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_2hector_mpi_test.world
similarity index 100%
rename from Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world
rename to Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_2hector_mpi_test.world
diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_tcp_test.world b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_2hector_tcp_test.world
similarity index 97%
rename from Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_tcp_test.world
rename to Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_2hector_tcp_test.world
index 5bef021..a4753a4 100644
--- a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_tcp_test.world
+++ b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_2hector_tcp_test.world
@@ -26,7 +26,7 @@
       <gazebo_id num=0 ip="192.168.1.7">
         <model_name>bebop_0</model_name>
       </gazebo_id>
-      <gazebo_id num=1 ip="192.168.1.7">
+      <gazebo_id num=1 ip="192.168.1.8">
         <model_name>bebop_1</model_name>
       </gazebo_id>
     </distribution>
diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_30hector_mpi.world b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_mpi_test.world
similarity index 100%
rename from Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_30hector_mpi.world
rename to Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_mpi_test.world
diff --git a/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_tcp_test.world b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_tcp_test.world
new file mode 100644
index 0000000..12b6b77
--- /dev/null
+++ b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_tcp_test.world
@@ -0,0 +1,75 @@
+<?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 gazebo_local_ID=0 port=8888 flag=1>
+      <gazebo_id num=0 ip="192.168.1.7">
+        <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>
+      </gazebo_id>
+      <gazebo_id num=1 ip="192.168.1.8">
+        <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>
+    </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>
diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_mpi_test.world b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_4hector_mpi_test.world
similarity index 100%
rename from Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_mpi_test.world
rename to Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_4hector_mpi_test.world
diff --git a/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_4hector_tcp_test.world b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_4hector_tcp_test.world
new file mode 100644
index 0000000..9604601
--- /dev/null
+++ b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_4hector_tcp_test.world
@@ -0,0 +1,81 @@
+<?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 gazebo_local_ID=0 port=8888 flag=1>
+      <gazebo_id num=0 ip="192.168.1.7">
+        <model_name>bebop_0</model_name>
+        <model_name>bebop_1</model_name>
+      </gazebo_id>
+      <gazebo_id num=1 ip="192.168.1.8">
+        <model_name>bebop_2</model_name>
+        <model_name>bebop_3</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 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_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>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_3">
+      <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>
+    
+  </world>
+</sdf>
diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi.world b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi.world
deleted file mode 100644
index f9c62d5..0000000
--- a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi.world
+++ /dev/null
@@ -1,47 +0,0 @@
-<?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>
-      </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>