X-lanni
31 lines
1.2 KiB
Markdown
31 lines
1.2 KiB
Markdown
# Planning Benchmark
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This experiment runs a set of planners over randomly generated maps, with randomly generated goals for objective benchmarking.
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To use, modify the Nav2 bringup parameters to include the planners of interest:
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```
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planner_server:
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ros__parameters:
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expected_planner_frequency: 20.0
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use_sim_time: True
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planner_plugins: ["SmacHybrid", "Smac2d", "SmacLattice", "Navfn", "ThetaStar"]
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SmacHybrid:
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plugin: "nav2_smac_planner/SmacPlannerHybrid"
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Smac2d:
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plugin: "nav2_smac_planner/SmacPlanner2D"
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SmacLattice:
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plugin: "nav2_smac_planner/SmacPlannerLattice"
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Navfn:
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plugin: "nav2_navfn_planner/NavfnPlanner"
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ThetaStar:
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plugin: "nav2_theta_star_planner/ThetaStarPlanner"
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```
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Set global costmap settings to those desired for benchmarking. The global map will be automatically set in the script. Inside of `metrics.py`, you can modify the map or set of planners to use.
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Launch the benchmark via `ros2 launch ./planning_benchmark_bringup.py` to launch the planner and map servers, then run each script in this directory:
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- `metrics.py` to capture data in `.pickle` files.
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- `process_data.py` to take the metric files and process them into key results (and plots)
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