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MoveIt benchmarks error: No planning plugins have been loaded. Nothing to do for the benchmarking service.

asked 2022-01-18 01:17:01 -0500

mug gravatar image

updated 2022-01-18 01:21:27 -0500

Hello, everyone! I'm trying to run Moveit benchmarking on my robot, but when I start the program, I get this error.

[ERROR] [1642489812.063689032]: No planning plugins have been loaded. Nothing to do for the benchmarking service.
[ERROR] [1642489812.063743391]: No planning interfaces configured.  Did you call BenchmarkExecutor::initialize?
[ERROR] [1642489812.063762958]: Failed to run all benchmarks

This has confused me for a couple days. Any suggestion would be greatly appreciated. P.S. My ROS distro is melodic.

launch file:

<launch>
  <!-- benchmark options file -->
  <arg name="bench_opts" default="$(find th12_moveit_benchmarking)/config/config.yaml"/>

  <!-- Load robot settings -->
  <include file="$(find th12_moveit_config)/launch/planning_context.launch">
    <arg name="load_robot_description" value="true"/>
  </include>

  <!-- Load all planning pipelines that will be benchmarked -->
  <include ns="moveit_run_benchmark/ompl" file="$(find th12_moveit_config)/launch/planning_pipeline.launch.xml">
    <arg name="pipeline" value="ompl" />
  </include>

  <!-- Load warehouse containing scenes and queries to benchmark -->
  <include file="$(find th12_moveit_config)/launch/default_warehouse_db.launch" />

  <!-- Launch benchmark node -->
  <node name="moveit_run_benchmark" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" output="screen" required="true">
    <rosparam command="load" file="$(arg bench_opts)"/>
  </node>
</launch>

benchmarking config file:

benchmark_config:

    warehouse:
        host: 127.0.0.1
        port: 33829
        scene_name: Scene1     # Required

    parameters:
        name: Scene1Pick1
        runs: 10
        group: arm       # Required
        timeout: 20.0
        output_directory: /home/matt/catkin_ws/src/th12_robot/th12_moveit_benchmarking/log/
        queries: Pick1
        start_states: Start1

    planning_pipelines:
        - name: ompl
          planners:
            - RRTConnectkConfigDefault # Default planner parameters

full roslaunch output:

    ... logging to /home/matt/.ros/log/aba2a096-782d-11ec-b5c1-fcaa14531711/roslaunch-neo-3634.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://neo:41609/

    SUMMARY
    ========

    PARAMETERS
     * /mongo_wrapper_ros_neo_3634_4032554662064783038/database_path: /home/matt/catkin...
     * /mongo_wrapper_ros_neo_3634_4032554662064783038/overwrite: False
     * /moveit_run_benchmark/benchmark_config/parameters/group: arm
     * /moveit_run_benchmark/benchmark_config/parameters/name: Scene1Pick1
     * /moveit_run_benchmark/benchmark_config/parameters/output_directory: /home/matt/catkin...
     * /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/arm/default_planner_config: RRT
     * /moveit_run_benchmark/ompl/arm/longest_valid_segment_fraction: 0.005
     * /moveit_run_benchmark/ompl/arm/planner_configs: ['SBL', 'EST', 'L...
     * /moveit_run_benchmark/ompl/arm/projection_evaluator: joints(J1_joint,J...
     * /moveit_run_benchmark/ompl/capabilities: 
     * /moveit_run_benchmark/ompl/disable_capabilities: 
     * /moveit_run_benchmark/ompl/planner_configs/BFMT/balanced: 0
     * /moveit_run_benchmark/ompl/planner_configs/BFMT/cache_cc: 1
     * /moveit_run_benchmark/ompl/planner_configs/BFMT/extended_fmt: 1
     * /moveit_run_benchmark/ompl/planner_configs/BFMT/heuristics: 1
     * /moveit_run_benchmark/ompl/planner_configs/BFMT/nearest_k: 1
     * /moveit_run_benchmark/ompl/planner_configs/BFMT/num_samples: 1000
     * /moveit_run_benchmark/ompl/planner_configs/BFMT/optimality: 1
     * /moveit_run_benchmark/ompl/planner_configs/BFMT/radius_multiplier: 1.0
     * /moveit_run_benchmark/ompl/planner_configs/BFMT/type: geometric::BFMT
     * /moveit_run_benchmark/ompl/planner_configs/BKPIECE/border_fraction: 0.9
     * /moveit_run_benchmark/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
     * /moveit_run_benchmark/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
     * /moveit_run_benchmark/ompl/planner_configs/BKPIECE/range: 0.0
     * /moveit_run_benchmark/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE
     * /moveit_run_benchmark/ompl/planner_configs/BiEST/range: 0.0
     * /moveit_run_benchmark/ompl/planner_configs/BiEST/type: geometric::BiEST
     * /moveit_run_benchmark/ompl/planner_configs/BiTRRT/cost_threshold: 1e300
     * /moveit_run_benchmark/ompl/planner_configs/BiTRRT/frountier_node_ratio ...
(more)
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answered 2022-01-19 20:44:08 -0500

mug gravatar image

updated 2022-01-19 20:45:43 -0500

It turns out that I was reading the Noetic MoveIt benchmarking tutorial, so the same configuration file would run wrong on Melodic. Then I modified the benchmark_config file and it was able to generate log files successfully. Here's the content:

benchmark_config:

    warehouse:
        host: 127.0.0.1
        port: 33829
        scene_name: Scene1     # Required

    parameters:
        name: Scene1Pick1
        runs: 10
        group: arm       # Required
        timeout: 20.0
        output_directory: /home/matt/catkin_ws/src/th12_robot/th12_moveit_benchmarking/log/
        queries: Pick1
        start_states: Start1

    planners:
        - plugin: ompl_interface/OMPLPlanner
          planners:
            - RRTConnectkConfigDefault # Default planner parameters

The main difference is between planning_pipelines and planners.

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Asked: 2022-01-18 01:17:01 -0500

Seen: 18 times

Last updated: Jan 19