🚀 Benchmark Execution Steps

1. Environment Setup (Terminal 1)

Initialize the Docker container and launch the simulation environment:

1.1. Activate the docker image

lab_planning

1.2 Build the workspace

cd ros_ws
catkin_make
source devel/setup.bash

1.3 Launch the simulation environment

roslaunch robot_planning target_rescue.launch

2. Individual Benchmark Run (Terminal 2)

Open a new terminal to interface with the running container and execute the planners:

2.1 Link to the running docker container

dock-other

2.2 Build the workspace

cd ros_ws
catkin_make
source devel/setup.bash

2.3 Run a specific planner

To test an example with combinatorial planner:

rosrun robot_planning individual_benchmark_node _planner_type:=spr _time_limit:=120.0

To test an example with sample-based planner:

rosrun robot_planning individual_benchmark_node _planner_type:=prm _time_limit:=120.0

🛠 Benchmark Configuration

Each run uses the individual_benchmark_node with the following parameters:

• _planner_type: The algorithm to test spr, mcr, acd, ecd, prm, rrt, rrt_star.

• _time_limit: Maximum allowed computation time (default set to 120.0 seconds, but tested with also 60 and 30 seconds).

NB: To run a second benchmark you have to reset the enviroment by terminate the current execution in Terminal one and re run the 1.3 script.