{"id":20628177,"url":"https://github.com/tony23545/moveit_benchmark_tutorial","last_synced_at":"2026-03-09T02:32:31.781Z","repository":{"id":111576837,"uuid":"142749109","full_name":"tony23545/moveit_benchmark_tutorial","owner":"tony23545","description":"A benchmark demo for fetch robot on 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the moveit tutorial in my project.\n\nMy system setup:  \n-OS: Ubuntu 14.04  \n-ROS: Indigo  \n-Robot: fetch  \n\nPackage Required:  \n-[Moveit!](https://github.com/ros-planning/moveit)  \n-[fetch_ros](https://github.com/fetchrobotics/fetch_ros)  \n-[warehouse_ros](https://github.com/ros-planning/warehouse_ros)  \n\n### Three steps to carry out the benchmark:  \n\n#### cfg and launch file\none demo cfg and launch files are attached here.  \n\n#### run the benchmark\n```\nroslaunch moveit_ros_benchmarks fetch_benchmark.launch\n```  \nThis step will generate a log file in the output path set in the cfg file.  \n\n#### generate a PDF of the plot  \ncd to the folder containing moveit_benchmark_statistics.py  \n```\npython moveit_benchmark_statistics.py /home/shengjian/benchmark.log.1.log -p benchmark.pdf\n```\nThis step will generate a PDF of the benchmark result in the working dir.  \n  \n### Using constraing  \nI follow the advise [here](https://groups.google.com/forum/#!topic/moveit-users/G-YTRJmHcXc)  \nThe constraints have to be set programmatically into the database.  \nHere is a way to set the default constraint, for fetch, it is wirst_rolling_link upright.  \n```\nroslaunch fetch_moveit_config default_warehouse_db.launch reset:=true\n```\nThen we can benchmark the planner with constraint\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftony23545%2Fmoveit_benchmark_tutorial","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftony23545%2Fmoveit_benchmark_tutorial","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftony23545%2Fmoveit_benchmark_tutorial/lists"}