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MoveIt Benchmark Suite

The benchmark suite is under development. The API is unstable and incomplete.

The benchmark suite is primarily a tool for benchmarking different components of MoveIt. It includes a profiler interface for collecting metrics, a dataset for storing benchmarked data as well as tools to aggregate and plot statistics from datasets.

Overview:

  • Plot complex graphs
  • Visualize queries
  • Regression analysis
  • Configure tools at runtime
  • Dataset: generic and readable
  • Metadata: version control

See the documentation section for more information.

Packages description

benchmark_suite
MoveIt profilers and benchmark nodes with default configurations.
benchmark_suite_mtc
MoveIt Task Constructor profilers and benchmark nodes with default configurations.
benchmark_suite_core
Core library used to create profilers and benchmarks – profiler interface, dataset and wrappers around moveit_core library.
benchmark_suite_tools
Log, aggregate and plot statistics from datasets. Visualize queries and results from a profiler with RViz (robot agnostic).
benchmark_suite_resources
Collection of resources used to configure profilers – MoveIt configurations, planning scenes, motion plan requests and more.
urdf_to_scene
External package to convert a URDF to a PlanningScene.
moveit_serialization
External package that contains YAML serializers for moveit_msgs and node manipulation.

Roadmap

  • Add GTest
  • Clean and document code
  • Support Melodic distribution
  • Website for ploting datasets. Similar to the Planner Arena

Attribution

A lot of concepts and code were taken from the robowflex_library created by Zachary Kingston.

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