MoveIt Benchmark Suite

The benchmark suite is under development. The API is unstable and incomplete.

The benchmark suite is primarily a tool for benchmarking different components of MoveIt. It includes a profiler interface for collecting metrics, a dataset for storing benchmarked data as well as tools to aggregate and plot statistics from datasets.

Overview:

• Plot complex graphs
• Visualize queries
• Regression analysis
• Configure tools at runtime
• Dataset: generic and readable
• Metadata: version control

See the documentation section for more information.

Packages description

benchmark_suite

MoveIt profilers and benchmark nodes with default configurations.

benchmark_suite_mtc

MoveIt Task Constructor profilers and benchmark nodes with default configurations.

benchmark_suite_core

Core library used to create profilers and benchmarks – profiler interface, dataset and wrappers around moveit_core library.

benchmark_suite_tools

Log, aggregate and plot statistics from datasets. Visualize queries and results from a profiler with RViz (robot agnostic).

benchmark_suite_resources

Collection of resources used to configure profilers – MoveIt configurations, planning scenes, motion plan requests and more.

urdf_to_scene

External package to convert a URDF to a PlanningScene.

moveit_serialization

External package that contains YAML serializers for moveit_msgs and node manipulation.

Roadmap

• Add GTest
• Clean and document code
• Support Melodic distribution
• Website for ploting datasets. Similar to the Planner Arena

Attribution

A lot of concepts and code were taken from the robowflex_library created by Zachary Kingston.