How to benchmark different IK solvers

asked 2020-01-08 11:41:22 -0600

ash6r gravatar image

Hi, i would like to benchmark the different inverse kinematic solvers that are available in ROS Melodic but not sure how to go about this. I have the urdf file for my manipulator and have it setup using the MoveIt! Setup Asssistant tool. I'm able to setup motion planning algortihms using the OMPL planner insde Rviz as well. The next step will be to benchmark the differernt IK solvers quantitatively to see which solver takes the least amount of time to solve and which one does it well. Im hopping to make a graph of some sorts similar to this but not sure on where to start. Any help will be appreciated! Im new to the whole ROS enviroment and keen on learning. Thank you.

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It's not a complete answer, but the source for the tool that was used to create the graph you show is here: traclabs/trac_ik/src/trac_ik_examples/src/ik_tests.cpp.

gvdhoorn gravatar image gvdhoorn  ( 2020-01-08 14:07:04 -0600 )edit

Ah thank you for that should help me out a lot, im guessing i can just modify this file to include the other ik solvers as well and somehow import my urdf model in to it?

ash6r gravatar image ash6r  ( 2020-01-08 17:23:14 -0600 )edit

The code I linked to already loads a URDF.

gvdhoorn gravatar image gvdhoorn  ( 2020-01-09 01:48:47 -0600 )edit

@ash6r Did you find a solution for generic IK solvers?

machinekoder gravatar image machinekoder  ( 2020-10-19 05:30:31 -0600 )edit