OMPL Planner Arena {#plannerarena}

The OMPL Planner Arena code allows you to easily create plots from a benchmark database produced from benchmark log files. See also http://plannerarena.org and the benchmarking tutorial.

Dependencies

• R 3.1.0 or higher

• On Ubuntu you need to run sudo apt install libv8-dev.

• The following R packages: shinyjs, V8, tidyverse, Hmisc, pool, RSQLite, and markdown. These packages can be installed like so:

  R -e "install.packages(c('shinyjs', 'V8', 'tidyverse', 'Hmisc', 'pool', 'RSQLite', 'markdown'), repos='https://cran.r-project.org')"
  

Running

First, produce a series of benchmark log files. Next, produce a database called benchmark.db with ompl_benchmark_statistics.py. After that, you need to run the script plannerarena, which launches Planner Arena (if the script is not in your path, it is in the directory ompl/scripts/plannerarena). After you upload your database via the web page that should have opened in your browser, it should look similar to http://plannerarena.org.

Docker

PlannerArena is also available as a Docker container. Once you have Docker installed, you can download and run PlannerArena like so:

docker pull mmoll/plannerarena
docker run --rm -p 8888:8888 plannerarena

Go to http://127.0.0.1:8888 and upload your benchmark data. If your benchmark database files exceed 50MB, set the environment variable OMPL_PLANNERARENA_MAX_DB_SIZE to the desired limit in bytes in the Dockerfile for Planner Arena and rebuild the docker container.