Benchmark parallel planning pipelines #1539
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Codecov ReportPatch coverage has no change and project coverage change:
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## main #1539 +/- ##
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This was referenced Aug 26, 2022
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moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
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moveit_ros/benchmarks/src/simple_benchmarks/CombinePredefinedPosesBenchmark.cpp
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moveit_ros/benchmarks/include/moveit/benchmarks/BenchmarkExecutor.h
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Refactor names to make code readable Use MoveItCpp instead of PlanningPipeline Update python version in benchmarks script Remove demo_panda launch file since it also is in moveit_resources Fix error in demo_panda_predefined_poses.launch.py Fix uncommented gdb statement Disable error causing code segments Fix segfault Fix formatting Uncomment non working parts of benchmark_statistics script Enable two pipelines Add parallel planning pipeline config Formatting Add getParallelPipelineConfigurations() Evalute parallel planning pipelines Allow empty planning_pipelines parameter Make output available in results file Fixes to enable benchmarking Fix predefined poses yaml Remove old launch and yaml files Add description for Benchmark options and rename parameters Add warehouse config to MoveIt config Refactor loadPlanningScene function Remove outdated demo description Shutdown after spin() Add moveit_cpp.yaml for predefined_poses example Better logging Formatting + small bug Fix compiler errors Additional constructor for MultiPipelinePlanRequestParameters Fix metrics collection Track correct parallel planning processing time Cleanup Add config and database Cleanups and fixes Remove moveit_combine_predefined_poses_benchmark and restructure directory Cleanup Benchmark all scenes + AnytimePathShortening Add start state Make more robust against potential segfault Change log level of CHOMP runtime output and change kdl print Small cleanups Remove Anytime and simplify + diversify test db Cleanup and make ready for review Disable queriesAndPlannersCompatible Fix clang-tidy Remove unused function Remove debug comment Make planning_scene_storage and object Pass planning scene correctly and always use moveit_cpp Update parameters and remove debug comments
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henningkayser
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Mar 9, 2023
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Description
Fixes, cleanup and updates benchmarks package + enable benchmarking of parallel planing interface of moveit_cpp. This PR includes only an initial effort for general cleanups, refactorings and improvements of the benchmarks package, since I originally planned to "just add" benchmarking capabilities for parallel planning. Once it is merged, benchmarking is functional again and we can put further effort into it.
Testing
Run the benchmarks with
Once all benchmarks run through, terminate the window.
Afterwards, based a database can be created in the directory where you run the following command:
ros2 run moveit_ros_benchmarks moveit_benchmark_statistics.py /tmp/moveit_benchmarks/*The results can be visualized with https://plannerarena.org/
If you want to introspect the test database, you use the moveit2_tutorials and run:
In the
Contexttab of the RVIZ MotionPlanning window, you can change the path to the host database to the one in the benchmarks package and the scenes can be visualized in theStored Scenestab (when the db is successfully loaded).Checklist