run_benchmarks.cpp

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/* Author: Ioan Sucan */

#include <moveit/benchmarks/benchmark_execution.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <boost/program_options.hpp>
#include <ros/ros.h>

static const std::string ROBOT_DESCRIPTION="robot_description";      // name of the robot description (a param name, so it can be changed externally)

int main(int argc, char **argv)
{
  ros::init(argc, argv, "moveit_benchmarks", ros::init_options::AnonymousName);

  ros::AsyncSpinner spinner(1);
  spinner.start();

  boost::program_options::options_description desc;
  desc.add_options()
    ("help", "Show help message")
    ("host", boost::program_options::value<std::string>(), "Host for the MongoDB.")
    ("port", boost::program_options::value<std::size_t>(), "Port for the MongoDB.")
    ("benchmark-goal-existance", "Benchmark the sampling of the goal region")
    ("benchmark-planners", "Benchmark only the planners");

  boost::program_options::variables_map vm;
  boost::program_options::parsed_options po = boost::program_options::parse_command_line(argc, argv, desc);
  boost::program_options::store(po, vm);
  boost::program_options::notify(vm);

  if (vm.count("help") || argc == 1) // show help if no parameters passed
  {
    std::cout << desc << std::endl;
    return 1;
  }

  try
  {
    planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);
    moveit_benchmarks::BenchmarkType btype = 0;
    moveit_benchmarks::BenchmarkExecution be(psm.getPlanningScene(),
                                             vm.count("host") ? vm["host"].as<std::string>() : "",
                                             vm.count("port") ? vm["port"].as<std::size_t>() : 0);
    if (vm.count("benchmark-planners"))
      btype += moveit_benchmarks::BENCHMARK_PLANNERS;
    if (vm.count("benchmark-goal-existance"))
      btype += moveit_benchmarks::BENCHMARK_GOAL_EXISTANCE;

    unsigned int proc = 0;
    std::vector<std::string> files = boost::program_options::collect_unrecognized(po.options, boost::program_options::include_positional);
    for (std::size_t i = 0 ; i < files.size() ; ++i)
    {
      if (be.readOptions(files[i].c_str()))
      {
        std::stringstream ss;
        be.printOptions(ss);
        std::cout << "Calling benchmark with options:" << std::endl << ss.str() << std::endl;
        be.runAllBenchmarks(btype);
        proc++;
      }
    }
    ROS_INFO_STREAM("Processed " << proc << " benchmark configuration files");
  }
  catch(mongo_ros::DbConnectException &ex)
  {
    ROS_ERROR_STREAM("Unable to connect to warehouse. If you just created the database, it could take a while for initial setup. Please try to run the benchmark again."
                     << std::endl << ex.what());
  }

  ROS_INFO("Benchmarks complete! Shutting down ROS..."); // because sometimes there are segfaults after this
  ros::shutdown();

  return 0;
}