362 lines
13 KiB
Bash
Executable File
362 lines
13 KiB
Bash
Executable File
#!/bin/bash
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#########################################################################
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# Author: zhangshuai #
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# Date: 2019.03.21 #
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# Description: Automated generation of launch and world #
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# Usage: ./Distributed_Gazebo configuration_file #
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#########################################################################
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configuration_file=$1
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world="WORLD:"
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node="GAZEBO_NODE:"
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ip="GAZEBO_IP:"
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port="SOCKET_PORT:"
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hector="HECTOR_NAME:"
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world_name=0
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idex=(0 0)
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id0=0
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id1=1
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node_0_hector_count=0
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node_1_hector_count=0
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gazebo_idex_count=0
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# gazebo_count
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# gazebo_id
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# local_hector_
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gazebo_param_0=(0 0)
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gazebo_param_1=(0 0)
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hector_node_0=(0)
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hector_node_1=(0)
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echo "begin"
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while read line
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do
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if [[ $line =~ $world ]]
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then
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temp=${line#*\"}
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temp=${temp%\"*}
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world_name=$temp
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echo ${temp}
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fi
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if [[ $line =~ $node ]]
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then
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temp=${line#*\"}
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temp=${temp%\"*}
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idex[gazebo_idex_count]=$temp
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echo ${temp}
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echo ${idex[gazebo_idex_count]}
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echo "gazebo_idex_count:$gazebo_idex_count"
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let gazebo_idex_count++
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fi
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if [[ $line =~ $ip ]]
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then
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temp=${line#*\"}
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temp=${temp%\"*}
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if [ "${idex[gazebo_idex_count-1]}" == "$id0" ]
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then
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gazebo_param_0[0]=$temp
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# echo "gazebo_param_0[0]:${gazebo_param_0[0]}"
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fi
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if [ "${idex[gazebo_idex_count-1]}" == "$id1" ]
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then
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gazebo_param_1[0]=$temp
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# echo "gazebo_param_1[0]:${gazebo_param_1[0]}"
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fi
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echo ${temp}
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fi
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if [[ $line =~ $port ]]
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then
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temp=${line#*\"}
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temp=${temp%\"*}
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if [ "${idex[gazebo_idex_count-1]}" == "$id0" ]
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then
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gazebo_param_0[1]=$temp
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fi
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if [ "${idex[gazebo_idex_count-1]}" == "$id1" ]
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then
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gazebo_param_1[1]=$temp
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fi
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echo ${temp}
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fi
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if [[ $line =~ $hector ]]
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then
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temp=${line#*\"}
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temp=${temp%\"*}
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if [ "${idex[gazebo_idex_count-1]}" == "$id0" ]
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then
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hector_node_0[node_0_hector_count]=$temp
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let node_0_hector_count++
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fi
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if [ "${idex[gazebo_idex_count-1]}" == "$id1" ]
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then
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hector_node_1[node_1_hector_count]=$temp
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let node_1_hector_count++
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fi
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echo ${temp}
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fi
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done < $configuration_file
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echo "end"
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# echo ${gazebo_param_0[0]}
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# echo ${gazebo_param_0[1]}
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# echo ${gazebo_param_1[0]}
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# echo ${gazebo_param_1[1]}
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# echo ${hector_node_0[0]}
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# echo ${hector_node_0[1]}
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# echo ${hector_node_1[0]}
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# echo ${hector_node_1[1]}
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echo "node0:${node_0_hector_count}"
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echo "node1:${node_1_hector_count}"
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file="var/log/messages"
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echo "${file#*/}"
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echo "${file##*/}"
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# 开始写文件
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launch_file=(0 0)
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world_file=(0 0)
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# node_0的launch文件
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launch_file[0]="src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_node_0_${node_0_hector_count}_${node_1_hector_count}.launch"
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if [ -f ${launch_file[0]} ]
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then
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`rm -rf ${launch_file[0]}`
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fi
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`touch ${launch_file[0]}`
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# node_1的launch文件
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launch_file[1]="src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_node_1_${node_0_hector_count}_${node_1_hector_count}.launch"
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if [ -f ${launch_file[1]} ]
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then
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`rm -rf ${launch_file[1]}`
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fi
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`touch ${launch_file[1]}`
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# node_0的world文件
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world_file[0]="src/hector_quadrotor/hector_quadrotor_gazebo/worlds/${world_name}_node_0.world"
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if [ -f ${world_file[0]} ]
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then
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`rm -rf ${world_file[0]}`
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fi
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`touch ${world_file[0]}`
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# node_1的world文件
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world_file[1]="src/hector_quadrotor/hector_quadrotor_gazebo/worlds/${world_name}_node_1.world"
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if [ -f ${world_file[1]} ]
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then
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`rm -rf ${world_file[1]}`
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fi
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`touch ${world_file[1]}`
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# 写world文件
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for((i=0;i<$gazebo_idex_count;i++))
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do
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echo "<?xml version=\"1.0\" ?>" >> ${world_file[i]}
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echo "<sdf version=\"1.4\">" >> ${world_file[i]}
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echo " <world name=\"default\">" >> ${world_file[i]}
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echo "" >> ${world_file[i]}
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echo " <!-- A global light source -->" >> ${world_file[i]}
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echo " <include>" >> ${world_file[i]}
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echo " <uri>model://sun</uri>" >> ${world_file[i]}
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echo " </include>" >> ${world_file[i]}
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echo "" >> ${world_file[i]}
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echo " <include>" >> ${world_file[i]}
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echo " <uri>model://${world_name}</uri>" >> ${world_file[i]}
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echo " <pose>0 0 0 0 0 0</pose>" >> ${world_file[i]}
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echo " </include>" >> ${world_file[i]}
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echo "" >> ${world_file[i]}
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echo " <scene>" >> ${world_file[i]}
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echo " <ambient>0.68 0.68 0.68 1.0</ambient>" >> ${world_file[i]}
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echo " <sky>" >> ${world_file[i]}
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echo " <sunrise/>" >> ${world_file[i]}
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echo " <clouds>" >> ${world_file[i]}
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echo " <speed>0</speed>" >> ${world_file[i]}
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echo " </clouds>" >> ${world_file[i]}
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echo " </sky>" >> ${world_file[i]}
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echo " </scene>" >> ${world_file[i]}
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echo "" >> ${world_file[i]}
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tmp_int=$i
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if [ "$tmp_int" == "$id0" ]
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then
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echo " <distributed type=$i ip=\"${gazebo_param_1[0]}\" port=${gazebo_param_1[1]} simula_entity_num=${node_0_hector_count} shadow_entity_num=${node_1_hector_count} flag=1 />" >> ${world_file[i]}
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fi
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if [ "$tmp_int" == "$id1" ]
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then
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echo " <distributed type=$i ip=\"${gazebo_param_0[0]}\" port=${gazebo_param_0[1]} simula_entity_num=${node_1_hector_count} shadow_entity_num=${node_0_hector_count} flag=1 />" >> ${world_file[i]}
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fi
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echo "" >> ${world_file[i]}
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echo " <physics type="ode" name="ode">" >> ${world_file[i]}
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echo " <real_time_update_rate>0</real_time_update_rate>" >> ${world_file[i]}
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echo " <max_step_size>0.001</max_step_size>" >> ${world_file[i]}
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echo " <real_time_factor>0</real_time_factor>" >> ${world_file[i]}
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echo " </physics>" >> ${world_file[i]}
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echo "" >> ${world_file[i]}
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echo " </world>" >> ${world_file[i]}
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echo "</sdf>" >> ${world_file[i]}
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done
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# 写launch文件
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for((i=0;i<$gazebo_idex_count;i++))
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do
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echo "<!-- This is a launch file that runs the bare minimum requirements to get -->" >> ${launch_file[i]}
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echo "<!-- gazebo running for a fixed-wing aircraft -->" >> ${launch_file[i]}
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echo "" >> ${launch_file[i]}
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echo "<launch>" >> ${launch_file[i]}
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echo "" >> ${launch_file[i]}
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echo " <include file=\"\$(find gazebo_ros)/launch/empty_world.launch\">" >> ${launch_file[i]}
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echo " <arg name=\"paused\" value=\"true\"/>" >> ${launch_file[i]}
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echo " <arg name=\"gui\" value=\"true\"/>" >> ${launch_file[i]}
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echo " <arg name=\"verbose\" value=\"false\"/>" >> ${launch_file[i]}
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echo " <arg name=\"debug\" value=\"false\"/>" >> ${launch_file[i]}
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echo " <arg name=\"world_name\" value=\"\$(find hector_quadrotor_gazebo)/worlds/${world_file[i]##*/}\"/>" >> ${launch_file[i]}
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echo " </include>" >> ${launch_file[i]}
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echo "" >> ${launch_file[i]}
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x=0
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y=0
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t_x=0
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t_y=0
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# tmp0=$node_0_hector_count+$node_1_hector_count
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# tmp1=$node_1_hector_count
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tmp_int=$i
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if [ "$tmp_int" == "$id0" ]
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then
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while [ $x -lt $(($node_0_hector_count + $node_1_hector_count)) ]
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do
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for((j=0;j<$node_0_hector_count;j++))
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do
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if [ $y -eq 10 ]
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then
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let t_y=0
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let t_x=t_x+5
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fi
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echo " <group ns=\"${hector_node_0[j]}\">" >> ${launch_file[i]}
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echo " <include file=\"\$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch\">" >> ${launch_file[i]}
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echo " <arg name=\"name\" value=\"${hector_node_0[j]}\" />" >> ${launch_file[i]}
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echo " <arg name=\"model\" value=\"\$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro\"/>" >> ${launch_file[i]}
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echo " <arg name=\"tf_prefix\" value=\"${hector_node_0[j]}\" />" >> ${launch_file[i]}
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echo " <arg name=\"x\" value=\"$t_x\" />" >> ${launch_file[i]}
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echo " <arg name=\"y\" value=\"$t_y\" />" >> ${launch_file[i]}
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echo " <arg name=\"z\" value=\"0.186\" />" >> ${launch_file[i]}
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echo " </include>" >> ${launch_file[i]}
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echo " </group>" >> ${launch_file[i]}
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echo "" >> ${launch_file[i]}
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let t_y=t_y+5
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let y++;
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let x++;
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done
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for((j=0;j<$node_1_hector_count;j++))
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do
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if [ $y -eq 10 ]
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then
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let t_y=0
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let t_x=t_x+5
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fi
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echo " <group ns=\"${hector_node_1[j]}\">" >> ${launch_file[i]}
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echo " <include file=\"\$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_shadow.launch\">" >> ${launch_file[i]}
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echo " <arg name=\"name\" value=\"${hector_node_1[j]}\" />" >> ${launch_file[i]}
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echo " <arg name=\"model\" value=\"\$(find hector_quadrotor_description)/urdf/quadrotor_shadow.gazebo.xacro\"/>" >> ${launch_file[i]}
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echo " <arg name=\"tf_prefix\" value=\"${hector_node_1[j]}\" />" >> ${launch_file[i]}
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echo " <arg name=\"x\" value=\"$t_x\" />" >> ${launch_file[i]}
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echo " <arg name=\"y\" value=\"$t_y\" />" >> ${launch_file[i]}
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echo " <arg name=\"z\" value=\"0.186\" />" >> ${launch_file[i]}
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echo " </include>" >> ${launch_file[i]}
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echo " </group>" >> ${launch_file[i]}
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echo "" >> ${launch_file[i]}
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let t_y=t_y+5
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let y++;
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let x++;
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done
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done
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fi
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if [ "$tmp_int" == "$id1" ]
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then
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while [ $x -lt 4 ]
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do
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for((j=0;j<$node_0_hector_count;j++))
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do
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if [ $y -eq 10 ]
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then
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let t_y=0
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let t_x=t_x+5
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fi
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echo " <group ns=\"${hector_node_0[j]}\">" >> ${launch_file[i]}
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echo " <include file=\"\$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor_shadow.launch\">" >> ${launch_file[i]}
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echo " <arg name=\"name\" value=\"${hector_node_0[j]}\" />" >> ${launch_file[i]}
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echo " <arg name=\"model\" value=\"\$(find hector_quadrotor_description)/urdf/quadrotor_shadow.gazebo.xacro\"/>" >> ${launch_file[i]}
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echo " <arg name=\"tf_prefix\" value=\"${hector_node_0[j]}\" />" >> ${launch_file[i]}
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echo " <arg name=\"x\" value=\"$t_x\" />" >> ${launch_file[i]}
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echo " <arg name=\"y\" value=\"$t_y\" />" >> ${launch_file[i]}
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echo " <arg name=\"z\" value=\"0.186\" />" >> ${launch_file[i]}
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echo " </include>" >> ${launch_file[i]}
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echo " </group>" >> ${launch_file[i]}
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echo "" >> ${launch_file[i]}
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let t_y=t_y+5
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let y++;
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let x++;
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done
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for((j=0;j<$node_1_hector_count;j++))
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do
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if [ $y -eq 10 ]
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then
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let t_y=0
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let t_x=t_x+5
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fi
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echo " <group ns=\"${hector_node_1[j]}\">" >> ${launch_file[i]}
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echo " <include file=\"\$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch\">" >> ${launch_file[i]}
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echo " <arg name=\"name\" value=\"${hector_node_1[j]}\" />" >> ${launch_file[i]}
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echo " <arg name=\"model\" value=\"\$(find hector_quadrotor_description)/urdf/quadrotor_with_downward_cam.gazebo.xacro\"/>" >> ${launch_file[i]}
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echo " <arg name=\"tf_prefix\" value=\"${hector_node_1[j]}\" />" >> ${launch_file[i]}
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echo " <arg name=\"x\" value=\"$t_x\" />" >> ${launch_file[i]}
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echo " <arg name=\"y\" value=\"$t_y\" />" >> ${launch_file[i]}
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echo " <arg name=\"z\" value=\"0.186\" />" >> ${launch_file[i]}
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echo " </include>" >> ${launch_file[i]}
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echo " </group>" >> ${launch_file[i]}
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echo "" >> ${launch_file[i]}
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let t_y=t_y+5
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let y++;
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let x++;
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done
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done
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fi
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echo " <node name=\"simple_takeoff\" pkg=\"hector\" type=\"hector_simple_takeoff\"/>" >> ${launch_file[i]}
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echo "" >> ${launch_file[i]}
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echo "</launch>" >> ${launch_file[i]}
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done
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