MoveIt: Gazebo-in-loop OMPL planner benchmarking

asked 2020-03-27 00:34:13 -0500

Yesh88 gravatar image

updated 2020-03-27 00:42:34 -0500

Hi all, i used the benchmarking tool of MoveIt to evaluate the performance of the planners., according to this tutorial: http://docs.ros.org/kinetic/api/movei...

But what i want do is to have gazebo in loop benchmarking, so the benchmarking results would also be affected by the physics of the gazebo model and also verify that the robot follows the planned path correctly. I couldn't find a straight forward method to do this. has anyone tried it?

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Comments

The benchmarking tool does not execute the plans, so you would have to modify the module and automatically reset your robot state. It doesn't sound too complicated conceptually, but would require some fiddling. I don't know of projects who have tried it.

fvd gravatar image fvd  ( 2020-03-31 05:51:07 -0500 )edit