moveit_ros
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ros-planning
Visualize benchmarking results
We would like a way to visualize benchmarking results so we can also get more intuition on the numbers.
For example, we would like to color all reachable poses in a scene green and the unreachable ones in red. the rviz plugin can do that, using the same code that the benchmark uses, but it's essentially a recomputation.
We could store all results of benchmarking in the database and use that information for visualization. That raises two questions: should it be a separate database? Also, should it be a different rviz plugin, so we don't keep piling stuff on top of the current one?
Even though I have a very bad feeling about overloading the same database for historical (and potentially growing endlessly) results, I would suggest a first quick start by storing them in a separate 'database name' in the same warehouse server, for the time being.
On Mon, Jan 7, 2013 at 10:57 PM, Matei Ciocarlie [email protected]:
We would like a way to visualize benchmarking results so we can also get more intuition on the numbers.
For example, we would like to color all reachable poses in a scene green and the unreachable ones in red. the rviz plugin can do that, using the same code that the benchmark uses, but it's essentially a recomputation.
We could store all results of benchmarking in the database and use that information for visualization. That raises two questions: should it be a separate database? Also, should it be a different rviz plugin, so we don't keep piling stuff on top of the current one?
— Reply to this email directly or view it on GitHubhttps://github.com/ros-planning/moveit_ros/issues/130.
Right now the warehouse allows storing the planning results in a separate collection, associating the results with the scenes and requests they correspond to. Have you noticed issues with storing data in the current dbs? I do not think we will have that much data to store, in terms of what databases typically store.
I am for a separate rviz plugin (split the current one when necessary) but I would rather stick to one database for now and make a change later if we run into problems.
I'm OK with that suggestion to start with
- Julian On Jan 8, 2013 4:46 AM, "isucan" [email protected] wrote:
Right now the warehouse allows storing the planning results in a separate collection, associating the results with the scenes and requests they correspond to. Have you noticed issues with storing data in the current dbs? I do not think we will have that much data to store, in terms of what databases typically store.
I am for a separate rviz plugin (split the current one when necessary) but I would rather stick to one database for now and make a change later if we run into problems.
— Reply to this email directly or view it on GitHubhttps://github.com/ros-planning/moveit_ros/issues/130#issuecomment-11987635.
Agree. I'm also in favor of splitting the rviz plugin. Things specific to kinematic analysis / benchmarks should be separated from the motion planning plugin in my opinion. The new functionality is becoming large enough to deserve its own UI...
Update: It's already possible to visualize the benchmark results, but only if you have the output files generated by the benchmark tool. We should upload those results to a database so that everyone can get them. So leaving this open for now...