Merge pull request #17 from NVIDIA-ISAAC-ROS/release-3.2

Update Isaac ROS MoveIt Benchmark

Author: jaiveersinghNV

README.md

@@ -40,6 +40,11 @@ Please visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/re
 * [`isaac_ros_benchmark`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_benchmark/isaac_ros_benchmark/index.html)
   * [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_benchmark/isaac_ros_benchmark/index.html#quickstart)
   * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_benchmark/isaac_ros_benchmark/index.html#troubleshooting)
+* [`isaac_ros_moveit_benchmark`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_benchmark/benchmarks/isaac_ros_moveit_benchmark/index.html)
+  * [Overview](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_benchmark/benchmarks/isaac_ros_moveit_benchmark/index.html#overview)
+  * [Setup](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_benchmark/benchmarks/isaac_ros_moveit_benchmark/index.html#setup)
+  * [Running the Benchmark](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_benchmark/benchmarks/isaac_ros_moveit_benchmark/index.html#running-the-benchmark)
+  * [Available Metrics](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_benchmark/benchmarks/isaac_ros_moveit_benchmark/index.html#available-metrics)
 
 ## Latest
 

benchmarks/isaac_ros_moveit_benchmark/isaac_ros_moveit_benchmark/isaac_ros_moveit_benchmark/planner_benchmark_mbm.py

@@ -14,6 +14,7 @@
 # limitations under the License.
 #
 # SPDX-License-Identifier: Apache-2.0
+import time
 from typing import Any, Dict, List
 
 from curobo.geom.sdf.world import WorldConfig
@@ -91,6 +92,7 @@ def test_benchmark(self) -> None:
                                                                  pose,
                                                                  planner)
                             planner_response_list.append(planner_response)
+                            time.sleep(5)
                 self._resource_profiler.stop_profiling()
                 self.get_logger().info('Resource profiling stopped.')
 
@@ -165,8 +167,6 @@ def get_available_planners(self, planning_pipline: str) -> List[str]:
                 'TRRTkConfigDefault',
                 'PRMkConfigDefault',
                 'ESTkConfigDefault',
-                'RRTstarkConfigDefault',
-                'PRMstarkConfigDefault',
             ]
         elif planning_pipline == 'isaac_ros_cumotion':
             available_planners = ['cuMotion']

benchmarks/isaac_ros_moveit_benchmark/isaac_ros_moveit_benchmark/package.xml

@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_moveit_benchmark</name>
-  <version>3.2.5</version>
+  <version>3.2.6</version>
   <description>Scripts for benchmarking moveit planners</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

benchmarks/isaac_ros_moveit_benchmark/isaac_ros_moveit_robot_benchmark/ur5/isaac_ros_ur5_cumotion_benchmark/package.xml

@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_ur5_cumotion_benchmark</name>
-  <version>3.2.5</version>
+  <version>3.2.6</version>
   <description>Benchmarking scripts for cuMotion with UR5 robot</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

benchmarks/isaac_ros_moveit_benchmark/isaac_ros_moveit_robot_benchmark/ur5/isaac_ros_ur5_cumotion_benchmark/ur5_cumotion_benchmark_scripts/ur5_cumotion_mbm.py

@@ -20,7 +20,7 @@
 
 from isaac_ros_moveit_benchmark import PlanningPipeline, RobotGroup, TestPlannerMBM
 
-from launch.actions import IncludeLaunchDescription
+from launch.actions import GroupAction, IncludeLaunchDescription, SetEnvironmentVariable
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 
@@ -66,12 +66,21 @@ def launch_setup(container_prefix, container_sigterm_timeout):
     cumotion_move_group_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [robot_moveit_launch_dir, '/demo.launch.py']),
-        launch_arguments={'default_planning_pipeline': 'isaac_ros_cumotion'}.items()
+        launch_arguments={
+            'default_planning_pipeline': 'isaac_ros_cumotion',
+            'use_rviz': 'False'}.items()
+    )
+
+    cumotion_move_group_action = GroupAction(
+        actions=[
+            SetEnvironmentVariable(name='DISPLAY', value='""'),
+            cumotion_move_group_launch,
+        ]
     )
 
     return [
         cumotion_planner_node,
-        cumotion_move_group_launch
+        cumotion_move_group_action,
     ]
 
 

benchmarks/isaac_ros_moveit_benchmark/isaac_ros_moveit_robot_benchmark/ur5/isaac_ros_ur5_ompl_benchmark/package.xml

@@ -21,7 +21,7 @@ SPDX-License-Identifier: Apache-2.0
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_ur5_ompl_benchmark</name>
-  <version>3.2.5</version>
+  <version>3.2.6</version>
   <description>Benchmarking scripts for OMPL planners with UR5 robot</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

benchmarks/isaac_ros_moveit_benchmark/isaac_ros_moveit_robot_benchmark/ur5/isaac_ros_ur5_ompl_benchmark/ur5_ompl_benchmark_scripts/ur5_ompl_mbm.py

@@ -20,7 +20,7 @@
 
 from isaac_ros_moveit_benchmark import PlanningPipeline, RobotGroup, TestPlannerMBM
 
-from launch.actions import IncludeLaunchDescription
+from launch.actions import GroupAction, IncludeLaunchDescription, SetEnvironmentVariable
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
@@ -37,11 +37,20 @@ def launch_setup(container_prefix, container_sigterm_timeout):
         get_package_share_directory('ur5_gripper_moveit_config'), 'launch')
     ompl_move_group_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([robot_moveit_launch_dir, '/demo.launch.py']),
-        launch_arguments={'default_planning_pipeline': 'ompl'}.items()
+        launch_arguments={
+            'default_planning_pipeline': 'ompl',
+            'use_rviz': 'False'}.items()
+    )
+
+    ompl_move_group_action = GroupAction(
+        actions=[
+            SetEnvironmentVariable(name='DISPLAY', value='""'),
+            ompl_move_group_launch,
+        ]
     )
 
     return [
-        ompl_move_group_launch,
+        ompl_move_group_action,
     ]