MoveIt ROS Benchmarks

This package provides methods to benchmark motion planning algorithms and aggregate/plot statistics. Results can be viewed in Planner Arena.

For more information and usage example please see moveit tutorials.

Changelog for package moveit_ros_benchmarks

2.9.0 (2024-01-09)

• [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)
  • Enable chaining multiple planners
• Node logging in moveit_core (#2503)
• Use node logging in moveit_ros (#2482)
• Add new clang-tidy style rules (#2177)
• Use generate parameters library in PlanningPipelineClass + general cleanups (#2288)
  • Don\'t discard stuff
  • Move constants into source file
  • Move static consts into header
  • Don\'t ignore pipeline result
  • Use generate parameter library for planning pipeline parameters
  • Fix CI
  • More CI fixes
  • Remove more state from planning pipeline
  • Small cleanups
  • Assert planner_instance_ is not a nullptr
  • Remove valid variable
  • Simplify logic for trajectory printing
  • More helpful comments
  • Small logic simplification by using break
  • Fix clang-tidy
  • Pre-commit + Deprecate functions instead of removing them
  • Fix CI
• Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
• Enable running parallel or single pipeline benchmarks (#2385)
  • Enable running single or parallel planning pipeline benchmarks
  • Decrease log severity
• Update clang-format-14 with QualifierAlignment (#2362)
  • Set qualifier order in .clang-format
  • Ran pre-commit to update according to new style guide
• Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
• Contributors: Marq Rasmussen, Sebastian Jahr, Shobuj Paul, Tyler Weaver

2.8.0 (2023-09-10)

2.7.4 (2023-05-18)

2.7.3 (2023-04-24)

• Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)
• Contributors: Shobuj Paul

2.7.2 (2023-04-18)

• Update pre-commit (#2094)
• Extract parallel planning from moveit cpp (#2043)
  • Add parallel_planning_interface
  • Add parallel planning interface
  • Rename package to pipeline_planning_interface
  • Move plan_responses_container into own header + source file
  • Add plan_responses_contrainer source file
  • Add solution selection and stopping criterion function files
  • Remove parallel planning from moveit_cpp
  • Move parallel planning into planning package
  • Update moveit_cpp
  • Drop planning_interface changes
  • Add documentation
  • Update other moveit packages
  • Remove removed header
  • Address CI complains
  • Address clang-tidy complains
  • Address clang-tidy complains 2
  • Address clang-tidy complains 3
  • Extract planning pipeline map creation function from moveit_cpp
  • Cleanup comment
  • Use const moveit::core::RobotModelConstPtr&
  • Formatting
  • Add header descriptions
  • Remove superfluous TODOs
  • Cleanup
• Contributors: Sebastian Jahr, Shobuj Paul

2.7.1 (2023-03-23)

• Fix member naming (#1949) * Update clang-tidy rules for readability-identifier-naming Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

• Benchmark parallel planning pipelines (#1539)

  • Remove launch and config files (moved to moveit_resources)

• remove underscore from public member in MotionPlanResponse (#1939)

  • remove underscore from private members
  • fix more uses of the suffix notation

• Contributors: AlexWebb, Robert Haschke, Sebastian Jahr

2.7.0 (2023-01-29)

• converted characters from string format to character format (#1881)
• Fix BSD license in package.xml (#1796)
  • fix BSD license in package.xml
  • this must also be spdx compliant
• Remove [MOVEIT_LIB_NAME]{.title-ref} (#1751) It\'s more readable and searchable if we just spell out the target name.
• Add braces around blocks. (#999)
• Used C++ style cast instead of C style cast (#1628) Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
• Contributors: Abhijeet Das Gupta, Chris Thrasher, Christian Henkel, Cory Crean, Sameer Gupta

2.6.0 (2022-11-10)

• Remove unused benchmark_execution.cpp file (#1535)
• Merge PR #1553: Improve cmake files
• Use standard exported targets: export_\${PROJECT_NAME} -> \${PROJECT_NAME}Targets
• Improve CMake usage (#1550)
• Free functions for calculating properties of trajectories (#1503) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
• Remove __has_include statements (#1481)
• Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver, Vatan Aksoy Tezer

2.5.3 (2022-07-28)

2.5.2 (2022-07-18)

• Merge https://github.com/ros-planning/moveit/commit/c88f6fb64e9057a4b9a8f6fafc01060e8c48a216
• Merge remote-tracking branch \'origin/main\' into feature/msa
• Removing more boost usage (#1372)
• Merge remote-tracking branch \'upstream/main\' into feature/msa
• Removing some boost usage (#1331) Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
• Remove unnecessary rclcpp.hpp includes (#1333)
• Fix namespace of planning plugin for benchmarks examples (#3128) Since #2888 / https://github.com/ros-planning/moveit_resources/pull/92 [planning_pipeline.launch.xml]{.title-ref} loads into [pipeline]{.title-ref} namespace by default, thus making an explicit specification of [ompl]{.title-ref} redundant.
• Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
• various: prefer objects and references over pointers
• Contributors: Abishalini, David V. Lu, Henry Moore, Jafar, Michael G