planning_components_tools Directory Reference

Directory dependency graph for planning_components_tools:

Directories
	src

Detailed Description

Planning Component Tools

Compare collision checking speeds: FCL vs Bullet

The launch file collision_checker_compare.launch starts a benchmark between FCL and Bullet as a collision detection library. The script compare_collision_speed_checking_fcl_bullet.cpp performs the actual speed tests.

The collision scenarios can be visualized. By default, visualization is turned off in the launch file but can be activated through visualization:=true as an argument to the roslaunch. If activated, rviz is launched and visualizations like in the images below are created. For the speed test, either meshes or other available shape primitives like the box can be used.

The clutter world objects are randomly placed such that they don't collide with the robot. The robot can then be moved to a colliding configuration. In the images, the red color of world objects indicates a collision with the robot.

The results of the speed test are printed to the console. Their unit is collision checks per second. A current overview over the results is given in the table below. Note that absolute values are not relevant because they are depending on the computing power of the local machine but the relative differences between Bullet and FCL should be reproducible.

Collision environment	Bullet	FCL
Robot self check, no collision	220,000	110,000
World clutter 100 meshes, no collision	37,000	38,000
World clutter 100 meshes, 4 in collision	8,000	3,000