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How to execute sbpl-planners in MoveIt-Benchmark-Tool?

Hello,

I already executed some benchmark-runs with ompl planners. Now I want to repeat the same with the sbpl-planners. There I have some questions:

  1. Can I use the same procedure only with an adjusted config.cfg-file ?
  2. Where can I find a list of all in sbpl included planners? (like on the ompl-site)
  3. Is this config file correct (in order to test sbpl-planners):

    [scene] name=pickandplace query=query1 runs=10

    [plugin] name=sbpl_interface_ros/SBPLPlanner planners= ??? ??? ???

Thanks in advance viovio

How to execute sbpl-planners in MoveIt-Benchmark-Tool?

Hello,

I already executed some benchmark-runs with ompl planners. Now I want to repeat the same with the sbpl-planners. There I have some questions:sbpl-ara planner.

  1. Can I use the same procedure only with an adjusted config.cfg-file ?

  2. benchmark server .launch file?

  3. Where can
    <launch>
    
      <node name="moveit_benchmark_server" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" respawn="false" output="screen">
        <rosparam command="load" file="$(find TX60L_Final11)/config/kinematics.yaml"/>
        <rosparam command="load" file="$(find TX60L_Final11)/config/ompl_planning.yaml"/>
      </node>
    
    </launch>
    

    Or have I find a list also to include something like "sbpl_planning.yaml"? Because, this is not in the config-folder of all in sbpl included planners? (like on the ompl-site)

  4. Is this config file correct (in order to test sbpl-planners):my MoveIt!-Configuration Files.

    [scene] name=pickandplace query=query1 runs=10Does this .cfg-file look correct?

    [scene]
    name=pickandplace
    runs=10
    
    [plugin]
    name=sbpl_interface_ros/SBPLPlanner
    planners= ??? ??? ???

name=sbpl_interface/SBPLPlanner planners=ARAConfigDefault

Many Thanks in advance viovio

How to execute sbpl-planners in MoveIt-Benchmark-Tool?

Hello,

I already executed some benchmark-runs with ompl planners. Now I want to repeat the same with the sbpl-ara planner.

Can I use the same benchmark My SBPL-benchmark server .launch file? file:

<launch>

  <node name="moveit_benchmark_server" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" respawn="false" output="screen">
    <rosparam command="load" file="$(find TX60L_Final11)/config/kinematics.yaml"/>
    <rosparam command="load" file="$(find TX60L_Final11)/config/ompl_planning.yaml"/>
TX60L_Final11)/config/sbpl_planning.yaml"/>
  </node>

</launch>

Or have I also to include something like "sbpl_planning.yaml"? Because, this is not in the config-folder of my MoveIt!-Configuration Files.

Does this .cfg-file look correct?sbpl_planning.yaml-file

[scene]
name=pickandplace
runs=10

[plugin]
name=sbpl_interface/SBPLPlanner
planners=ARAConfigDefault
planner_configs:
  AraConfigDefault:
    type: geometric::Ara

arm:
  planner_configs:
    - ArakConfigDefault

dummy:
  planner_configs:
    - ArakConfigDefault

edit: when I start my .launch-file Terminal shows following:

...
[ INFO] [1366667891.580784849]: Attempting to load and configure ompl_interface_ros/OMPLPlanner
[ INFO] [1366667891.690143180]: Not displaying OMPL exploration data structures.
[ INFO] [1366667891.691618019]: Initializing OMPL interface using ROS parameters
[ERROR] [1366667891.696771314]: Could not find the planner configuration 'ArakConfigDefault' on the param server
[ERROR] [1366667891.699387276]: Could not find the planner configuration 'ArakConfigDefault' on the param server
[ INFO] [1366667891.703239199]: Available planner instances: ompl_interface_ros/OMPLPlanner

Why is the benchmark_server assuming that I use OMPL? How can I fix it?

Many Thanks in advance viovio

How to execute sbpl-planners in MoveIt-Benchmark-Tool?use SBPL for Benchmarking?

Hello,

I already executed some benchmark-runs with ompl planners. planners. (ROS GROOVY) Now I want to repeat the same with the sbpl-ara planner.

My SBPL-benchmark server .launch file:

<launch>

  <node name="moveit_benchmark_server" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" respawn="false" output="screen">
    <rosparam command="load" file="$(find TX60L_Final11)/config/kinematics.yaml"/>
    <rosparam command="load" file="$(find TX60L_Final11)/config/sbpl_planning.yaml"/>
  </node>

</launch>

my sbpl_planning.yaml-file

planner_configs:
  AraConfigDefault:
    type: geometric::Ara

arm:
  planner_configs:
    - ArakConfigDefault

dummy:
  planner_configs:
    - ArakConfigDefault

edit: when I start my .launch-file Terminal shows following:

...
[ INFO] [1366667891.580784849]: Attempting to load and configure ompl_interface_ros/OMPLPlanner
[ INFO] [1366667891.690143180]: Not displaying OMPL exploration data structures.
[ INFO] [1366667891.691618019]: Initializing OMPL interface using ROS parameters
[ERROR] [1366667891.696771314]: Could not find the planner configuration 'ArakConfigDefault' on the param server
[ERROR] [1366667891.699387276]: Could not find the planner configuration 'ArakConfigDefault' on the param server
[ INFO] [1366667891.703239199]: Available planner instances: ompl_interface_ros/OMPLPlanner

Why is the benchmark_server assuming that I use OMPL? How can I fix it?

Many Thanks in advance viovio

How to use SBPL for Benchmarking?

Hello,

I already executed some succesfull benchmark-runs with ompl planners. (ROS GROOVY) Now I want to repeat the same with the sbpl-ara sbpl_arm planner.

My SBPL-benchmark server .launch file:

<launch>

  <node name="moveit_benchmark_server" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" respawn="false" output="screen">
    <rosparam command="load" file="$(find TX60L_Final11)/config/kinematics.yaml"/>
    <rosparam command="load" file="$(find TX60L_Final11)/config/sbpl_planning.yaml"/>
  </node>

</launch>

my sbpl_planning.yaml-fileguessed sbpl_planning.yaml-file (I orientaded at the ompl_planning.yaml-file)

planner_configs:
  AraConfigDefault:
    type: geometric::Ara

arm:
  planner_configs:
    - ArakConfigDefault

dummy:
  planner_configs:
    - ArakConfigDefault

edit: when I start my .launch-file Terminal shows following:

...
[ INFO] [1366667891.580784849]: Attempting to load and configure ompl_interface_ros/OMPLPlanner
[ INFO] [1366667891.690143180]: Not displaying OMPL exploration data structures.
[ INFO] [1366667891.691618019]: Initializing OMPL interface using ROS parameters
[ERROR] [1366667891.696771314]: Could not find the planner configuration 'ArakConfigDefault' on the param server
[ERROR] [1366667891.699387276]: Could not find the planner configuration 'ArakConfigDefault' on the param server
[ INFO] [1366667891.703239199]: Available planner instances: ompl_interface_ros/OMPLPlanner

Why is the benchmark_server assuming that I use OMPL? How can I fix it?

Many Thanks in advance viovio

How to use SBPL for Benchmarking?

Hello,

I already executed some succesfull benchmark-runs with ompl planners. (ROS GROOVY) Now I want to repeat the same with the sbpl_arm planner.

My SBPL-benchmark server .launch file:

<launch>

  <node name="moveit_benchmark_server" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" respawn="false" output="screen">
    <rosparam command="load" file="$(find TX60L_Final11)/config/kinematics.yaml"/>
    <rosparam command="load" file="$(find TX60L_Final11)/config/sbpl_planning.yaml"/>
  </node>

</launch>

my guessed sbpl_planning.yaml-file (I orientaded at the ompl_planning.yaml-file)

planner_configs:
  AraConfigDefault:
    type: geometric::Ara

arm:
  planner_configs:
    - ArakConfigDefault

dummy:
  planner_configs:
    - ArakConfigDefault

edit: when I start my .launch-file Terminal shows following:

...
[ INFO] [1366667891.580784849]: Attempting to load and configure ompl_interface_ros/OMPLPlanner
[ INFO] [1366667891.690143180]: Not displaying OMPL exploration data structures.
[ INFO] [1366667891.691618019]: Initializing OMPL interface using ROS parameters
[ERROR] [1366667891.696771314]: Could not find the planner configuration 'ArakConfigDefault' on the param server
[ERROR] [1366667891.699387276]: Could not find the planner configuration 'ArakConfigDefault' on the param server
[ INFO] [1366667891.703239199]: Available planner instances: ompl_interface_ros/OMPLPlanner

Why is the benchmark_server assuming that I use OMPL? How can I fix it?

Edit: Here is a paper, where sbpl - benmarking is realized in MoveIt!

Many Thanks in advance viovio

How to use SBPL for Benchmarking?

Hello,

I already executed some succesfull benchmark-runs with ompl planners. (ROS GROOVY) Now I want to repeat the same with the sbpl_arm planner.

My SBPL-benchmark server .launch file:

<launch>

  <node name="moveit_benchmark_server" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" respawn="false" output="screen">
    <rosparam command="load" file="$(find TX60L_Final11)/config/kinematics.yaml"/>
    <rosparam command="load" file="$(find TX60L_Final11)/config/sbpl_planning.yaml"/>
  </node>

</launch>

my guessed sbpl_planning.yaml-file (I orientaded at the ompl_planning.yaml-file)

planner_configs:
  AraConfigDefault:
    type: geometric::Ara

arm:
  planner_configs:
    - ArakConfigDefault

dummy:
  planner_configs:
    - ArakConfigDefault

edit: when I start my .launch-file Terminal shows following:

...
[ INFO] [1366667891.580784849]: Attempting to load and configure ompl_interface_ros/OMPLPlanner
[ INFO] [1366667891.690143180]: Not displaying OMPL exploration data structures.
[ INFO] [1366667891.691618019]: Initializing OMPL interface using ROS parameters
[ERROR] [1366667891.696771314]: Could not find the planner configuration 'ArakConfigDefault' on the param server
[ERROR] [1366667891.699387276]: Could not find the planner configuration 'ArakConfigDefault' on the param server
[ INFO] [1366667891.703239199]: Available planner instances: ompl_interface_ros/OMPLPlanner

Why is the benchmark_server assuming that I use OMPL? How can I fix it?

Edit: Here is a paper, where sbpl - benmarking is realized in MoveIt!

Edit: Here are my MoveIt! configuration files. And my 6Dof_robot.

Many Thanks in advance viovio