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 "
                                                                                                        "DB.")(
      "port", boost::program_options::value<std::size_t>(), "Port for the DB.")(
      "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;
  }
  // Set up db
  warehouse_ros::DatabaseConnection::Ptr conn = moveit_warehouse::loadDatabase();
  if (vm.count("host") && vm.count("port"))
    conn->setParams(vm["host"].as<std::string>(), vm["port"].as<std::size_t>());
  if (!conn->connect())
    return 1;

  planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);
  moveit_benchmarks::BenchmarkType btype = 0;
  moveit_benchmarks::BenchmarkExecution be(psm.getPlanningScene(), conn);
  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");

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

  return 0;
}