计算机科学 ›› 2021, Vol. 48 ›› Issue (11A): 672-677.doi: 10.11896/jsjkx.210100109
蒋化南1, 张帅2, 林宇斐2, 李豪2
JIANG Hua-nan1, ZHANG Shuai2, LIN Yu-fei2, LI Hao2
摘要: Gazebo作为机器人通用仿真平台,能够在复杂的室内和室外环境中准确模拟机器人行为,并在单节点上支持多机器人的协同仿真。但执行仿真任务中如果启动成百上千台机器人,通常会发现Gazebo性能参考值(RTF)仿真实时比会降低两个数量级,甚至出现仿真错误的情况,仿真性能会成为其主要制约因素。为了实现机器人集群的高性能仿真,探索了基于MPI的跨节点ROS+Gazebo仿真平台搭建方法,核心过程是针对确定的仿真任务进行并行划分,可采用编号划分或区域划分,将划分好的各个子任务部署到各计算节点的Gazebo上进行仿真,最后通过Gazebo之间的MPI进程通信保证仿真的同步和一致性,以此实现机器人分布在不同计算节点上的协同仿真。同时编写了固定翼和四旋翼同构和异构的仿真测试案例,通过脚本程序读入world配置文件和roslaunch文件来实现,设计了对用户友好的与ROS类似的启动方式,进行了单节点和跨节点的性能测试,验证了分布式并行仿真的优越性。
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