105 lines
3.0 KiB
Bash
Executable File
105 lines
3.0 KiB
Bash
Executable File
#!/bin/bash
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#####################################################################################################################################
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# Author: Zhang Shuai #
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# Date: 2019-05-23 #
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# Description: launch a MPI Gazebo simulation task #
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# Usage: ./MPI_Gazebo_launch.sh [ros packdge's name] [launch file's name] [workspace's path] [world's path and name] [hostfile] #
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#####################################################################################################################################
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packdge_name=$1
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launch_file_name=$2
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workspace_path=$3
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world_file=$4
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host_file=$5
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echo $packdge_name
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echo $launch_file_name
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echo $workspace_path
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echo $world_file
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echo $host_file
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host_count=0
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hosts=()
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#获取hostfile文件中的host名字
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while read line
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do
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if [ -n "$line" ]
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then
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temp=${line% *}
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hosts[$host_count]=$temp
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let host_count=$host_count+1
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fi
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done < $host_file
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echo "host_count:$host_count"
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for((i=0;i<host_count;i++))
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do
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echo "host_name:${hosts[$i]}"
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done
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#登入各节点启动roscore （source还有改进空间，ROS运行的工作目录应该作为参数传进来）
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for((i=0;i<host_count;i++))
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do
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ssh -f -n ${hosts[$i]} "source $workspace_path/devel/setup.bash;
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roscore;
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echo roscore_done!"
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echo "${hosts[$i]}:roscore_good"
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done
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sleep 5s
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#登入第一个节点启动MPI的gzserver，并成为各自节点上的ROS node
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ssh -f -n ${hosts[0]} "cd ~/Git/Gazebo_Distributed_MPI/mpi_run;
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mpiexec -hostfile $host_file -np 1 mygzserver $world_file $workspace_path : -np 1 mygzserver $world_file $workspace_path;
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echo mpiexec_done!"
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echo "${hosts[0]}:mpiexec_good"
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sleep 20s
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#登入各节点roslaunch加载模型（source还有改进空间，ROS运行的工作目录应该作为参数传进来）
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for((i=0;i<host_count;i++))
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do
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ssh -f -n ${hosts[$i]} "source $workspace_path/devel/setup.bash;
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echo ++++++++++${hosts[$i]}++++++++++++;
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env | grep LD_LIBRARY;
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echo ++++++++++${hosts[$i]}++++++++++++;
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roslaunch $packdge_name $launch_file_name;
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echo roslaunch_done!"
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echo "${hosts[$i]}:roslaunch_good"
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done
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sleep 20s
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#登入各节点开始仿真
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for((i=0;i<host_count;i++))
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do
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ssh -f -n ${hosts[$i]} "gz world -p 0;
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echo start_done!;
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exit"
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echo "${hosts[$i]}:start_good"
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done
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sleep 5m
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#登入各节点kill相关进程以结束仿真（1.目前方式比较暴力，后续改进；2.cd ~/MPI 还要进行灵活性优化）
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for((i=0;i<host_count;i++))
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do
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ssh -f -n ${hosts[$i]} > /dev/null 2>&1 "cd ~/Git/Gazebo_Distributed_MPI/mpi_run;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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./kill.sh;
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exit"
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echo "${hosts[$i]}:close_good"
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done
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echo simulation_done!
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exit 0 |