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This commit is contained in:
zhangshuai 2019-04-28 21:11:32 +08:00
parent 85c423e5ea
commit e993804f58
10 changed files with 167 additions and 52 deletions
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2
Gazebo_Distributed_MPI/gazebo/physics/World.cc
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@ -1069,7 +1069,7 @@ void World::Update()
#endif #endif
// std::cout << "===== iterations:\t" << this->dataPtr->iterations << std::endl; // std::cout << "===== iterations:\t" << this->dataPtr->iterations << std::endl;
if (this->dataPtr->iterations == 1000000) if (this->dataPtr->iterations == 100000)
{ {
if (this->gazeboLocalID == 0) if (this->gazeboLocalID == 0)
{ {

0
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_10hector_mpi.world → Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_10hector_mpi_test.world
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12
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_mpi.world → Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_10hector_tcp_test.world
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@ -22,14 +22,20 @@
</scene> </scene>
<!-- For distributed simulation --> <!-- For distributed simulation -->
<distribution flag=1> <distribution gazebo_local_ID=0 port=8888 flag=1>
<gazebo_id num=0 ip="192.168.1.7"> <gazebo_id num=0 ip="192.168.1.7">
<model_name>bebop_0</model_name> <model_name>bebop_0</model_name>
<model_name>bebop_1</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_2</model_name>
<model_name>bebop_3</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> </gazebo_id>
</distribution> </distribution>

0
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world → Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_2hector_mpi_test.world
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2
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_tcp_test.world → Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_2hector_tcp_test.world
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@ -26,7 +26,7 @@
<gazebo_id num=0 ip="192.168.1.7"> <gazebo_id num=0 ip="192.168.1.7">
<model_name>bebop_0</model_name> <model_name>bebop_0</model_name>
</gazebo_id> </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> <model_name>bebop_1</model_name>
</gazebo_id> </gazebo_id>
</distribution> </distribution>

0
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_30hector_mpi.world → Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_mpi_test.world
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75
Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_tcp_test.world Normal file
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@ -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>

0
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_mpi_test.world → Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_4hector_mpi_test.world
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81
Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_4hector_tcp_test.world Normal file
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@ -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>

47
Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi.world
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@ -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>