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Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robotperf/benchmarks.git
VCS Type git
VCS Version main
Last Updated 2024-07-10
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A computational graph that uses [moveit2](https://github.com/ros-planning/moveit2) to compute collision checking with the [FCL](https://github.com/flexible-collision-library/fcl) library between a UFACTORY xArm6 manipulator and a cube-shaped collision object

Additional Links

No additional links.

Maintainers

  • Martiño Crespo Álvarez

Authors

  • Martiño Crespo Álvarez

d2_collision_checking_fcl

Collision checking between xArm6 and a box using FCL library.

ID

d2

Description

A computational graph that uses moveit2 to compute collision checking with the FCL library between a UFACTORY xArm6 manipulator and a cube-shaped collision object

Reproduction Steps

Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/manipulation/d2_collision_checking_fcl and review the launch files to reproduce this package.

Results

Type Hardware Metric Value Category Timestamp Note Data Source
:white_circle: Intel i5-13600K latency 3.0874 workstation 2023-09-11 09:20:32 ✋mean_benchmark 1.8055, rms_benchmark 2.0244, max_benchmark 3.0874, min_benchmark 1.0066, lost messages 0.00 % simulation
:white_circle: Intel i5-13600K power 81.74083709716797 workstation 2023-09-11 09:20:32 simulation
:white_circle: Intel i5-13600K throughput 0.0 workstation 2023-09-11 09:20:32 ✋mean_benchmark 0.0, rms_benchmark 0.0, max_benchmark 0.0, min_benchmark 0.0, lost messages 0.00 % simulation
:white_circle: Intel i7-12700H latency 10.9649 workstation 08-09-2023 ✋mean_benchmark 9.1100, rms_benchmark 9.3270, max_benchmark 10.9649, min_benchmark 6.3328, lost messages 0.00 % simulation
:white_circle: Intel i7-12700H power 9.9816255569458 workstation 08-09-2023 simulation
:white_circle: Intel i7-8700K latency 23.1109 workstation 08-09-2023 ✋mean_benchmark 12.0303, rms_benchmark 14.5932, max_benchmark 23.1109, min_benchmark 3.2861, lost messages 0.00 % simulation
:white_circle: Intel i7-8700K power 13.847026824951172 workstation 08-09-2023 simulation
:white_circle: AMD Ryzen 5 PRO 4650G latency 5.6565 workstation 2023-09-13 17:34:52 ✋mean_benchmark 3.8750 ms, rms_benchmark 4.1162 ms, max_benchmark 5.6565 ms, min_benchmark 2.2694 ms, lost messages 0.00 % simulation
:white_circle: AMD Ryzen 5 PRO 4650G power 11.578874588012695 workstation 2023-09-13 17:34:52 ✋mean_benchmark 3.8750 ms, rms_benchmark 4.1162 ms, max_benchmark 5.6565 ms, min_benchmark 2.2694 ms, lost messages 0.00 % simulation
:white_circle: AMD Ryzen 5 PRO 4650G latency 6.7518 workstation 2023-09-13 17:36:03 ✋mean_benchmark 3.6152 ms, rms_benchmark 4.2670 ms, max_benchmark 6.7518 ms, min_benchmark 1.4750 ms, lost messages 0.00 % simulation
:white_circle: AMD Ryzen 5 PRO 4650G power 10.524511337280273 workstation 2023-09-13 17:36:03 ✋mean_benchmark 3.6152 ms, rms_benchmark 4.2670 ms, max_benchmark 6.7518 ms, min_benchmark 1.4750 ms, lost messages 0.00 % simulation
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged d2_collision_checking_fcl at Robotics Stack Exchange

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