Abstract: Gazebo,as a general robot simulation platform,can simulate robot behavior accurately in the complex environment of indoor or outdoor,and support multi-robot collaborative simulation on single computer node.But when the simulation task contains hundreds of robots,it is usually found that the RTF (Gazebo simulation real-time performance) will reduce two orders of magnitude,some errors even appear in the simulation.The simulation performance will become the critical limiting factor.In order to realize high-performance simulation,the across node simulation platform based on MPI and ROS＋Gazebo is explored.The core process is to divide the simulation tasks in parallel,which can be divided by number or region.The divided sub tasks are deployed to the Gazebo of each computing node for simulation.Finally,the MPI process communication between the Gazebo ensures the synchronization and consistency of the simulation,so as to realize the collaborative simulation of robots distributed on different computing nodes.At the same time,two types of cases including homogeneity and heterogeneity about fixed wing and quadrotor are writed,which are realized by reading the world configuration file and roslaunch file through the script program.The user-friendly starting mode similar to ROS was designed,and the single-node and cross-node performance tests are carried out to verify the advantage of distributed parallelism simulation.

Key words: Gazebo, High-performance simulation, MPI, Robot swarm, ROS