diff --git a/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_10hector_mpi_test.world b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_10hector_mpi_test.world
index 3fc35bd..41e8ea4 100644
--- a/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_10hector_mpi_test.world
+++ b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_10hector_mpi_test.world
@@ -23,14 +23,14 @@
     
     <!-- For distributed simulation -->
     <distribution flag=1>
-      <gazebo_id num=0 ip="192.168.1.7">
+      <gazebo_id num=0>
         <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>
       </gazebo_id>
-      <gazebo_id num=1 ip="192.168.1.4">
+      <gazebo_id num=1>
         <model_name>bebop_5</model_name>
         <model_name>bebop_6</model_name>
         <model_name>bebop_7</model_name>
@@ -50,6 +50,86 @@
         </solver>
       </ode> -->
     </physics>
+
+    <model name="bebop_0">
+      <pose>0 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_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>0 10 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>0 15 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_4">
+      <pose>0 20 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_5">
+      <pose>0 25 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_6">
+      <pose>0 30 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_7">
+      <pose>0 35 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_8">
+      <pose>0 40 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_9">
+      <pose>0 45 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_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_mpi_test.world b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_mpi_test.world
index f925eee..af4005b 100644
--- a/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_mpi_test.world
+++ b/Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_mpi_test.world
@@ -23,7 +23,7 @@
     
     <!-- For distributed simulation -->
     <distribution flag=1>
-      <gazebo_id num=0 ip="192.168.1.7">
+      <gazebo_id num=0>
         <model_name>bebop_0</model_name>
         <model_name>bebop_1</model_name>
         <model_name>bebop_2</model_name>
@@ -40,7 +40,7 @@
         <model_name>bebop_13</model_name>
         <model_name>bebop_14</model_name>
       </gazebo_id>
-      <gazebo_id num=1 ip="192.168.1.4">
+      <gazebo_id num=1>
         <model_name>bebop_15</model_name>
         <model_name>bebop_16</model_name>
         <model_name>bebop_17</model_name>
@@ -70,6 +70,246 @@
         </solver>
       </ode> -->
     </physics>
+
+    <model name="bebop_0">
+      <pose>0 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_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>0 10 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>0 15 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_4">
+      <pose>0 20 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_5">
+      <pose>0 25 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_6">
+      <pose>0 30 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_7">
+      <pose>0 35 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_8">
+      <pose>0 40 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_9">
+      <pose>0 45 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_10">
+      <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_11">
+      <pose>5 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_12">
+      <pose>5 10 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_13">
+      <pose>5 15 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_14">
+      <pose>5 20 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_15">
+      <pose>5 25 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_16">
+      <pose>5 30 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_17">
+      <pose>5 35 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_18">
+      <pose>5 40 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_19">
+      <pose>5 45 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_20">
+      <pose>10 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_21">
+      <pose>10 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_22">
+      <pose>10 10 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_23">
+      <pose>10 15 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_24">
+      <pose>10 20 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_25">
+      <pose>10 25 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_26">
+      <pose>10 30 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_27">
+      <pose>10 35 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_28">
+      <pose>10 40 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_29">
+      <pose>10 45 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>