Improvements to ompl benchmarking tutorial (melodic)

[simonschmeisser]

Description

I tried following the benchmarking tutorial and ran into some issues, collecting them here first and hope to address them in PRs

• [ ] mongodb not actually installed: https://github.com/ros-planning/warehouse_ros_mongo/issues/31
• [ ] tutorial claims it needs from source build but everything is released
• [ ] tutorial names query Pick1 while default benchmark file calls it KitchenPick1
• [ ] clarify in tutorial that query should be for group panda_arm
• [ ] default projection missing?

[ INFO] [1586249659.474563951]: Planner configuration 'panda_arm[BKPIECEkConfigDefault]' will use planner 'geometric::BKPIECE'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1586249659.474780724]: panda_arm[BKPIECEkConfigDefault]: Attempting to use default projection.
[ERROR] [1586249659.474879369]: No default projection is set. Perhaps setup() needs to be called
[ERROR] [1586249659.478963309]: OMPL encountered an error: No projection evaluator specified
================================================================================REQUIRED process [moveit_run_benchmark-3] has died!

• [ ] use sqlite instead of mongodb? https://github.com/k-okada/warehouse_ros_sqlite

Your environment

• ROS Distro: Melodic
• OS Version: Ubuntu 18.04
• Source
• If source, which git commit or tag? current

[welcome[bot]]

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

[simonschmeisser]

default projection can be fixed by adding:

projection_evaluator: joints(panda_joint1,panda_joint2) to ompl_planning.yaml

[simonschmeisser]

@rhaschke could yout tag this as WorldMoveItDay candidate so whoever is interested can find it?

[mamoll]

The benchmarking functionality is actually not OMPL-specific. Other planning pipelines (CHOMP, STOMP, ...) can also be used. This tutorial has lots of issues as @simonschmeisser has already pointed out. I took me a while to get things working, too.

[felixvd]

In addition to the thread @simonschmeisser just linked from, I noticed that the Stored Scenes and Stored States tabs are never mentioned or used outside of the Benchmarking tutorial page. The only use "in the wild" I have seen is in this PR, for which there are good reasons not to merge imo (although the functionality has a use).

I would consider what the intended workflow for setting up a benchmarking problem is, and then try to combine the Stored Scenes/Stored States tab into one if possible. I actually also think the warehouse connection on the connect tab should be in there, because it affects nothing except those two tabs.

Note that the scripts in this package allow saving scenes/states to files, which is more intuitive and much easier to share/add to a repo.