RunBenchmark.cpp

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/* Author: Ryan Luna */
 
#include <ros/ros.h>
#include <string>
 
#include <moveit/benchmarks/BenchmarkOptions.h>
#include <moveit/benchmarks/BenchmarkExecutor.h>
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "moveit_run_benchmark");
  ros::AsyncSpinner spinner(1);
  spinner.start();
 
  // Read benchmark options from param server
  moveit_ros_benchmarks::BenchmarkOptions opts(ros::this_node::getName());
  // Setup benchmark server
  moveit_ros_benchmarks::BenchmarkExecutor server;
 
  std::vector<std::string> planning_pipelines;
  opts.getPlanningPipelineNames(planning_pipelines);
  server.initialize(planning_pipelines);
 
  // Running benchmarks
  if (!server.runBenchmarks(opts))
    ROS_ERROR("Failed to run all benchmarks");
}