https://github.com/tony23545/moveit_benchmark_tutorial
A benchmark demo for fetch robot on Moveit!
https://github.com/tony23545/moveit_benchmark_tutorial
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A benchmark demo for fetch robot on Moveit!
- Host: GitHub
- URL: https://github.com/tony23545/moveit_benchmark_tutorial
- Owner: tony23545
- Created: 2018-07-29T09:51:27.000Z (almost 8 years ago)
- Default Branch: master
- Last Pushed: 2018-07-31T15:23:02.000Z (almost 8 years ago)
- Last Synced: 2025-03-15T11:52:04.559Z (over 1 year ago)
- Topics: fetch, moveit
- Homepage:
- Size: 7.81 KB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# moveit_benchmark_tutorial
This tutorial follows the [moveit benchmark tutorial](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/benchmarking_tutorial.html)
However, there are some problems using the moveit tutorial in my project.
My system setup:
-OS: Ubuntu 14.04
-ROS: Indigo
-Robot: fetch
Package Required:
-[Moveit!](https://github.com/ros-planning/moveit)
-[fetch_ros](https://github.com/fetchrobotics/fetch_ros)
-[warehouse_ros](https://github.com/ros-planning/warehouse_ros)
### Three steps to carry out the benchmark:
#### cfg and launch file
one demo cfg and launch files are attached here.
#### run the benchmark
```
roslaunch moveit_ros_benchmarks fetch_benchmark.launch
```
This step will generate a log file in the output path set in the cfg file.
#### generate a PDF of the plot
cd to the folder containing moveit_benchmark_statistics.py
```
python moveit_benchmark_statistics.py /home/shengjian/benchmark.log.1.log -p benchmark.pdf
```
This step will generate a PDF of the benchmark result in the working dir.
### Using constraing
I follow the advise [here](https://groups.google.com/forum/#!topic/moveit-users/G-YTRJmHcXc)
The constraints have to be set programmatically into the database.
Here is a way to set the default constraint, for fetch, it is wirst_rolling_link upright.
```
roslaunch fetch_moveit_config default_warehouse_db.launch reset:=true
```
Then we can benchmark the planner with constraint