New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Added content to the Benchmarking tutorial for different motion planners #195

Merged
merged 5 commits into from Jul 24, 2018

Conversation

Projects
None yet
3 participants
@raghavendersahdev
Copy link
Contributor

raghavendersahdev commented Jul 20, 2018

This PR is a work done by Raghavender as a part of 2018 Google summer of code. As a part of this PR, there are added sections for benchmarking different motion planners (CHOMP, STOMP, OMPL) available in MoveIt.
This adds tutorial sections to benchmark CHOMP, STOMP and OMPL for a given benchmark (which includes common start, goal states, planning scenes, queries, etc.)

The `benchmarking package <https://github.com/ros-planning/moveit/tree/kinetic-devel/moveit_ros/benchmarks>`_ provides methods to benchmark motion planning algorithms and aggregate/plot statistics using the OMPL Planner Arena.
The example below demonstrates how the benchmarking can be run for a Fanuc M-10iA.
The example below demonstrates how the benchmarking can be run for a panda robot arm.

This comment has been minimized.

@davetcoleman

davetcoleman Jul 20, 2018

Member

Panda (capitalize)

This comment has been minimized.

@davetcoleman

davetcoleman Jul 20, 2018

Member

and elsewhere

This comment has been minimized.

@raghavendersahdev

or: ::

rosrun moveit_tutorials collision_scene_example.py cluttered

This comment has been minimized.

@davetcoleman

davetcoleman Jul 20, 2018

Member

great instructions!!

This comment has been minimized.

@raghavendersahdev
@mamoll

This comment has been minimized.

Copy link

mamoll commented Jul 22, 2018

Looks good to me.

@davetcoleman davetcoleman merged commit 1119163 into ros-planning:kinetic-devel Jul 24, 2018

1 check passed

continuous-integration/travis-ci/pr The Travis CI build passed
Details
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment