RunBenchmark.cpp

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/* Author: Ryan Luna */
 
#include <string>
 
#include <moveit/benchmarks/BenchmarkOptions.h>
#include <moveit/benchmarks/BenchmarkExecutor.h>
#include <rclcpp/executors.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/node_options.hpp>
#include <rclcpp/utilities.hpp>
 
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ros.benchmarks.RunBenchmark");
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  rclcpp::NodeOptions node_options;
  node_options.allow_undeclared_parameters(true);
  node_options.automatically_declare_parameters_from_overrides(true);
  rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("moveit_run_benchmark", node_options);
 
  // Read benchmark options from param server
  moveit_ros_benchmarks::BenchmarkOptions opts(node);
  // Setup benchmark server
  moveit_ros_benchmarks::BenchmarkExecutor server(node);
 
  std::vector<std::string> planning_pipelines;
  opts.getPlanningPipelineNames(planning_pipelines);
  server.initialize(planning_pipelines);
 
  // Running benchmarks
  if (!server.runBenchmarks(opts))
    RCLCPP_ERROR(LOGGER, "Failed to run all benchmarks");
 
  rclcpp::spin(node);
}