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

A package to test moveit planners with the UR10 arm and Shadow hand.

Additional Links

No 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.

CHANGELOG
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Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

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Services

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Plugins

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