Readme for speed benchmark #1648
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j-petit
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Adding what I mentioned in our sync today: the current location/content of the README is great, I think the only thing that would be worthwhile to also add to the collision_detection_bullet README is the table of collision-checking speeds. |
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@j-petit I don't understand the status of these PRs - can you isolate just the README in this PR please? |
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* Benchmark script and launch file updated
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Done, as some of the history was squashed this PR got mixed up. |
rhaschke
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Nov 21, 2019
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| <include if="$(arg visualization)" file="$(find panda_moveit_config)/launch/demo.launch"/> |
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Shouldn't you provide a specific rviz config file (to be independent from changes in panda_moveit_config)?
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I see where you're coming from, but I think both the chance of a breaking change in that package and the impact in this one are so small that it's probably not worth it.
felixvd
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Nov 22, 2019
...t_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp
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davetcoleman
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Nov 25, 2019
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From my side yes. |
felixvd
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Nov 26, 2019
BryceStevenWilley
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Nov 26, 2019
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* FCL Bullet benchmark readme * Benchmark script and launch file updated * PR review fixups
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* Empty collision checker template for usage with tesseract and bullet (#1499) * Adding documentation to collision detection (#1488) * CMake adaptions for Tesseract integration * Empty collision detector template for tesseract and bullet * Making bullet as a collision plugin available * Adding missing error messages * Adding new folders and libraries to cmake * Fixing the BSD license * clang-format * Generic collision detection test suite (#1543) Generalize collision detection tests by using a templated test fixture. * Bullet Collision Detection (#1504) * Added discrete BVH Bullet manager * Added continuous collision detection * Cleanup of tesseract code * removed simple collision managers * changed enum to enum classes * fixed typos * removing debugging statements * removing tesseract allowed collision matrix * removed tesseract macros * replaced typedefs of stl containers * removed tesseract attached object code * ACM members of collision robot and world removed and ACM check into callback out of class * remove ContactTestType and replace through MoveIt CollisionRequest * BodyType int changed to enum * removed tesseract_msgs dependency and unnecessary tesseract code * changed dependency from bullet3_ros to debian Bullet package * Adding bullet and tesseract simple collision manager to the template: * added benchmark case for checking collision speed * tests for bullet collision checking * Adding missing features: * attached objects * contact reporting max number of contacts fixed * Bullet plugin xml name fixed * padding and scaling for robot added * updated tests * Adding continuous collision detection to Bullet (#1551) * Adding continous collision detection: * check only active links added * benchmark FCL vs Bullet * renaming files from bt to bullet * renaming variables from bt to bullet * clang-tidy and clang-format * renaming of variables to be in moveit format * continuous tests added * CCD active links changed * distance testing added to panda test suite * New collision features: * broadphase early culling * minimal distance reporting * renaming collision filter and group * removed extra margin on AABB for bullet * ACM in test from SRDF * PR review * Unified Collision Environment Bullet (#1572) * Templated tests adapted for unified collision env * Unified Bullet collision environment: * broadphase filtering adapted for early culling * ACM from SRDF in test * cleanup for bullet single collision env * removed link2castcow for CCD and only use constructor of COW directly * parent class for collision managers * removed function pointer for ACM check * removed extra self-collision manager and use only single manager * speed benchmark for unified environment * PR review: * more descriptive variable names * added user to TODO * PR review: * shortening namespace * documentation improvements * virtual destructor of BVH manager * remove extra speed benchmark * bugfix for not initialized managers * Licenses revised of old tesseract files * PR review: * replaced include guards through pragma * used default instead of empty {} for ctor/dtor * Comments in Bullet readme about thread safety and speed * Readme for speed benchmark (#1648) * FCL Bullet benchmark readme * Benchmark script and launch file updated * PR review fixups * Adapt cmake for Bullet (#1744) * cmake for using Bullet only if correct version available * Fixup * PR review fixup * Rewrite with own FindBullet.cmake * Use pkg-config * Fix travis failure for melodic * Fix moveit_ros_planning dependency on Bullet * Rename PR2-related collision test files (#1856)
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Description
This PR adds a readme for the speed benchmark script I wrote. The PR is so big as it depends on #1572 to be merged into the feature branch first. The rendered README is best seen here in my branch.
@BryceStevenWilley I remember that we discussed the location of this readme somewhere on github but can't find where anymore. I put it now into the
moveit_ros/planning/planning_component_toolsbut I remember that you favoredmoveit_core/collision_detection/. Any additional thoughts on that?Found our old discussion.