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sr_moveit_planner_benchmarking package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_moveit_planner_benchmarking sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
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Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/shadow-robot/sr_interface.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2018-11-26 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kirsty Ellis
Authors
- Kirsty Ellis
sr_moveit_planner_benchmarking
A package to test the different MoveIt planners. Planners currently configured are OMPL, SBPL and STOMP. Different scenes can be found in the data/inactive_tests folder. To include the scene in the benchmarking tests, move the yaml file up a directory level into data. The sbpl repository can be found here and stomp here. You'll need to include them in your workspace.
Launch
To run all the benchmarkings, simply launch a roscore and run:
rosrun sr_moveit_planner_benchmarking benchmark_planners.py _data:=`rospack find sr_moveit_planner_benchmarking`/data _results:=/tmp
To visualise the tests in Rviz, set the visualisation argument in launch/benchmarking.launch to 'True'.
Configuration
Currently the configurations for SBPL and STOMP are not generated automatically as OMPL is. The argument 'generate_planning_config' in planning_pipeline.launch.xml is set to True by default but is set to false for the sbpl and stomp tests.
Different tweaks can be made in the scene yaml files. The first is the number of planning attempts for each goal and the second being the planning library name. The STOMP config has been edited to meet the suggestions, but probably needs more tweaks.
Notes
ARA* planner in sbpl currently causes movegroup to crash during the 2nd planning request. The point cloud for collision_scene_2 is generated from two rosbags of pointcloud data, office_scene.bag and office_scene_2.bag, here.
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | sr_multi_description | |
| 0 | sr_benchmarking | |
| 1 | catkin | |
| 3 | moveit_ros_move_group | |
| 3 | moveit_planners_ompl | |
| 3 | moveit_ros_visualization | |
| 2 | joint_state_publisher | |
| 2 | robot_state_publisher | |
| 3 | moveit_simple_controller_manager | |
| 1 | xacro |
System Dependencies
Dependant Packages
Launch files
- launch/benchmarking.launch
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- planning [default: ompl]
- visualization [default: False]
- generate_planning_config [default: True]