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This commit is contained in:
zhangshuai 2019-04-28 21:40:29 +08:00
parent ada6266e79
commit eea4fe6774
2 changed files with 324 additions and 4 deletions
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84
Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_10hector_mpi_test.world
View File

@ -23,14 +23,14 @@
<!-- For distributed simulation --> <!-- For distributed simulation -->
<distribution flag=1> <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_0</model_name>
<model_name>bebop_1</model_name> <model_name>bebop_1</model_name>
<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> <model_name>bebop_4</model_name>
</gazebo_id> </gazebo_id>
<gazebo_id num=1 ip="192.168.1.4"> <gazebo_id num=1>
<model_name>bebop_5</model_name> <model_name>bebop_5</model_name>
<model_name>bebop_6</model_name> <model_name>bebop_6</model_name>
<model_name>bebop_7</model_name> <model_name>bebop_7</model_name>
@ -50,6 +50,86 @@
</solver> </solver>
</ode> --> </ode> -->
</physics> </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> </world>
</sdf> </sdf>

244
Gazebo_Distributed_MPI/mpi_run/kunming_airport_distribution_30hector_mpi_test.world
View File

@ -23,7 +23,7 @@
<!-- For distributed simulation --> <!-- For distributed simulation -->
<distribution flag=1> <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_0</model_name>
<model_name>bebop_1</model_name> <model_name>bebop_1</model_name>
<model_name>bebop_2</model_name> <model_name>bebop_2</model_name>
@ -40,7 +40,7 @@
<model_name>bebop_13</model_name> <model_name>bebop_13</model_name>
<model_name>bebop_14</model_name> <model_name>bebop_14</model_name>
</gazebo_id> </gazebo_id>
<gazebo_id num=1 ip="192.168.1.4"> <gazebo_id num=1>
<model_name>bebop_15</model_name> <model_name>bebop_15</model_name>
<model_name>bebop_16</model_name> <model_name>bebop_16</model_name>
<model_name>bebop_17</model_name> <model_name>bebop_17</model_name>
@ -70,6 +70,246 @@
</solver> </solver>
</ode> --> </ode> -->
</physics> </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> </world>
</sdf> </sdf>