can't find log files generated by MoveIt benchmarking

asked 2022-01-14 08:35:27 -0500

33 ●4 ●7 ●10

updated 2022-01-16 08:50:58 -0500

Hello everyone. I executed the benchmarkingon my robot according to MoveIt benchmarking tutorial, but there is no content in the specified log output directory. How to solve this? Any advice would be appreciated. (P.S. I installed the benchmarking pkg by apt command and my ROS distro is Noetic)

output of the benchmarking process:

reznov@penguin:~$ roslaunch th12_moveit_benchmarking demo_th12.launch 
... logging to /home/reznov/.ros/log/cd28c37c-7543-11ec-b689-b5fb9ed4d882/roslaunch-penguin-8885.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://penguin:43309/

SUMMARY
========

PARAMETERS
 * /mongo_wrapper_ros_penguin_8885_6795386966889649429/database_path: /home/reznov/catk...
 * /mongo_wrapper_ros_penguin_8885_6795386966889649429/overwrite: False
 * /moveit_run_benchmark/benchmark_config/parameters/group: arm
 * /moveit_run_benchmark/benchmark_config/parameters/name: Scene1
 * /moveit_run_benchmark/benchmark_config/parameters/output_directory: /home/benchmarks
 * /moveit_run_benchmark/benchmark_config/parameters/queries: Pick1
 * /moveit_run_benchmark/benchmark_config/parameters/runs: 10
 * /moveit_run_benchmark/benchmark_config/parameters/start_states: Start1
 * /moveit_run_benchmark/benchmark_config/parameters/timeout: 20.0
 * /moveit_run_benchmark/benchmark_config/planning_pipelines: [{'name': 'ompl',...
 * /moveit_run_benchmark/benchmark_config/warehouse/host: 127.0.0.1
 * /moveit_run_benchmark/benchmark_config/warehouse/port: 33829
 * /moveit_run_benchmark/benchmark_config/warehouse/scene_name: Scene1
 * /moveit_run_benchmark/ompl/ompl/arm/default_planner_config: RRT
 * /moveit_run_benchmark/ompl/ompl/arm/longest_valid_segment_fraction: 0.005
 * /moveit_run_benchmark/ompl/ompl/arm/planner_configs: ['AnytimePathShor...
 * /moveit_run_benchmark/ompl/ompl/arm/projection_evaluator: joints(J1_joint,J...
 * /moveit_run_benchmark/ompl/ompl/jiggle_fraction: 0.05
 * /moveit_run_benchmark/ompl/ompl/planner_configs/AnytimePathShortening/hybridize: True
 * /moveit_run_benchmark/ompl/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
 * /moveit_run_benchmark/ompl/ompl/planner_configs/AnytimePathShortening/num_planners: 4
 * /moveit_run_benchmark/ompl/ompl/planner_configs/AnytimePathShortening/planners: 
 * /moveit_run_benchmark/ompl/ompl/planner_configs/AnytimePathShortening/shortcut: True
 * /moveit_run_benchmark/ompl/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim...
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BFMT/balanced: 0
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BFMT/cache_cc: 1
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BFMT/extended_fmt: 1
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BFMT/heuristics: 1
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BFMT/nearest_k: 1
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BFMT/num_samples: 1000
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BFMT/optimality: 1
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BFMT/radius_multiplier: 1.0
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BFMT/type: geometric::BFMT
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BKPIECE/border_fraction: 0.9
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BKPIECE/range: 0.0
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BiEST/range: 0.0
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BiEST/type: geometric::BiEST
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BiTRRT/cost_threshold: 1e300
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BiTRRT/init_temperature: 100
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BiTRRT/range: 0.0
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /moveit_run_benchmark/ompl/ompl/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /moveit_run_benchmark/ompl/ompl/planner_configs/EST/goal_bias: 0.05
 * /moveit_run_benchmark/ompl/ompl/planner_configs/EST/range: 0.0
 * /moveit_run_benchmark/ompl/ompl/planner_configs/EST/type: geometric::EST
 * /moveit_run_benchmark/ompl/ompl/planner_configs/FMT/cache_cc: 1
 * /moveit_run_benchmark/ompl/ompl/planner_configs/FMT/extended_fmt: 1
 * /moveit_run_benchmark/ompl/ompl/planner_configs/FMT/heuristics: 0
 * /moveit_run_benchmark/ompl/ompl/planner_configs/FMT/nearest_k: 1
 * /moveit_run_benchmark/ompl/ompl/planner_configs/FMT/num_samples: 1000
 * /moveit_run_benchmark/ompl/ompl/planner_configs/FMT/radius_multiplier: 1.1
 * /moveit_run_benchmark/ompl/ompl/planner_configs/FMT/type: geometric::FMT
 * /moveit_run_benchmark/ompl/ompl/planner_configs/KPIECE/border_fraction ...

(more)

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Comments

Hi @mug, I noticed the tutorial is for ROS Kinetic. The benchmarking tutorial for ROS Noetic is: https://ros-planning.github.io/moveit...

If you are following the ROS Noetic tutorial, please change the link. I don't think they are the same but it would be good for future readers to have the correct link.

osilva ( 2022-01-15 19:20:26 -0500 )edit

Perhaps very minor, not sure if this will fix it. But when comparing against the tutorial config file, you need an extra / for the output_directory. In your case it would be:

output_directory: /home/benchmarks/

Refer to demo_obstacles.yaml

osilva ( 2022-01-15 19:33:54 -0500 )edit

@osilva Thanks for your reply, sir. I was following the MoveIt benchmarking tutorial for Noetic and I misplaced the link when I asked the question. Now I have fixed it.