add benchmark launch file + instructions

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())
+
+    ])