add benchmark launch file + instructions (#3218)

tools/planner_benchmarking/README.md

@@ -0,0 +1,30 @@
+# Planning Benchmark
+
+This experiment runs a set of planners over randomly generated maps, with randomly generated goals for objective benchmarking.
+
+To use, modify the Nav2 bringup parameters to include the planners of interest:
+
+```
+planner_server:
+ ros__parameters:
+ expected_planner_frequency: 20.0
+ use_sim_time: True
+ planner_plugins: ["SmacHybrid", "Smac2d", "SmacLattice", "Navfn", "ThetaStar"]
+ SmacHybrid:
+ plugin: "nav2_smac_planner/SmacPlannerHybrid"
+ Smac2d:
+ plugin: "nav2_smac_planner/SmacPlanner2D"
+ SmacLattice:
+ plugin: "nav2_smac_planner/SmacPlannerLattice"
+ Navfn:
+ plugin: "nav2_navfn_planner/NavfnPlanner"
+ ThetaStar:
+ plugin: "nav2_theta_star_planner/ThetaStarPlanner"
+```
+
+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.
+
+Launch the benchmark via `ros2 launch ./planning_benchmark_bringup.py` to launch the planner and map servers, then run each script in this directory:
+
+- `metrics.py` to capture data in `.pickle` files.
+- `process_data.py` to take the metric files and process them into key results (and plots)

tools/planner_benchmarking/metrics.py

@@ -31,28 +31,6 @@
 
 from transforms3d.euler import euler2quat
 
-'''
-Replace planner server with:
-
-planner_server:
- ros__parameters:
- expected_planner_frequency: 20.0
- use_sim_time: True
- planner_plugins: ["SmacHybrid", "Smac2d", "SmacLattice", "Navfn", "ThetaStar"]
- SmacHybrid:
- plugin: "nav2_smac_planner/SmacPlannerHybrid"
- Smac2d:
- plugin: "nav2_smac_planner/SmacPlanner2D"
- SmacLattice:
- plugin: "nav2_smac_planner/SmacPlannerLattice"
- Navfn:
- plugin: "nav2_navfn_planner/NavfnPlanner"
- ThetaStar:
- plugin: "nav2_theta_star_planner/ThetaStarPlanner"
-
-Set global costmap settings to those desired for benchmarking.
-The global map will be automatically set in the script.
-'''
 
 def getPlannerResults(navigator, initial_pose, goal_pose, planners):
  results = []
@@ -120,19 +98,6 @@ def main():
 
  navigator = BasicNavigator()
 
- # Set our experiment's initial pose
- initial_pose = PoseStamped()
- initial_pose.header.frame_id = 'map'
- initial_pose.header.stamp = navigator.get_clock().now().to_msg()
- initial_pose.pose.position.x = 1.0
- initial_pose.pose.position.y = 1.0
- initial_pose.pose.orientation.z = 0.0
- initial_pose.pose.orientation.w = 1.0
- navigator.setInitialPose(initial_pose)
-
- # Wait for navigation to fully activate
- navigator.waitUntilNav2Active()
-
  # Set map to use, other options: 100by100_15, 100by100_10
  map_path = os.getcwd() + '/' + glob.glob('**/100by100_20.yaml', recursive=True)[0]
  navigator.changeMap(map_path)

tools/planner_benchmarking/planning_benchmark_bringup.py

@@ -0,0 +1,73 @@
+# Copyright (c) 2022 Samsung Research America
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+ nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+ config = os.path.join(get_package_share_directory('nav2_bringup'), 'params', 'nav2_params.yaml')
+ map_file = os.path.join(nav2_bringup_dir, 'maps', 'map.yaml')
+ lifecycle_nodes = ['map_server', 'planner_server']
+
+ return LaunchDescription([
+ Node(
+ package='nav2_map_server',
+ executable='map_server',
+ name='map_server',
+ output='screen',
+ parameters=[{'use_sim_time': True},
+ {'yaml_filename': map_file},
+ {'topic_name': "map"}]),
+
+ Node(
+ package='nav2_planner',
+ executable='planner_server',
+ name='planner_server',
+ output='screen',
+ parameters=[config]),
+
+ Node(
+ package = 'tf2_ros',
+ executable = 'static_transform_publisher',
+ output = 'screen',
+ arguments = ["0", "0", "0", "0", "0", "0", "base_link", "map"]),
+
+ Node(
+ package = 'tf2_ros',
+ executable = 'static_transform_publisher',
+ output = 'screen',
+ arguments = ["0", "0", "0", "0", "0", "0", "base_link", "odom"]),
+
+ Node(
+ package='nav2_lifecycle_manager',
+ executable='lifecycle_manager',
+ name='lifecycle_manager',
+ output='screen',
+ parameters=[{'use_sim_time': True},
+ {'autostart': True},
+ {'node_names': lifecycle_nodes}]),
+
+ IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
+ launch_arguments={'namespace': '',
+ 'use_namespace': 'False'}.items())
+
+ ])