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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 inverse kinematics with the [KDL](https://moveit.picknik.ai/main/doc/examples/kinematics_configuration/kinematics_configuration_tutorial.html#the-kdl-kinematics-plugin) plugin for a UFACTORY xArm6 manipulator.

Additional Links

No additional links.

Maintainers

  • Martiño Crespo Álvarez

Authors

  • Martiño Crespo Álvarez

d4_inverse_kinematics_kdl

Inverse kinematics computation for xArm6 using the KDL plugin.

ID

d4

Description

A computational graph that uses moveit2 to compute inverse kinematics with the KDL plugin for a UFACTORY xArm6 manipulator.

Reproduction Steps

Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/manipulation/d4_inverse_kinematics_kdl 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 4.41 workstation 27-07-2023 mean 1.68 ms, rms 2.56 ms, max 4.41 ms, min 0.15 ms, lost 0.00% N/A
:white_circle: Intel i5-13600K power 48.451541900634766 workstation 27-07-2023 mean 1.68 ms, rms 2.56 ms, max 4.41 ms, min 0.15 ms, lost 0.00% N/A
:white_circle: Intel i7-12700H latency 2.8296 workstation 08-09-2023 ✋mean_benchmark 1.5618, rms_benchmark 1.8012, max_benchmark 2.8296, min_benchmark 0.8779, lost messages 0.00 % simulation
:white_circle: Intel i7-12700H power 10.178995132446289 workstation 08-09-2023 simulation
:white_circle: Intel i7-8700K latency 3.2425 workstation 08-09-2023 ✋mean_benchmark 1.8365, rms_benchmark 2.0962, max_benchmark 3.2425, min_benchmark 0.9111, lost messages 0.00 % simulation
:white_circle: Intel i7-8700K power 7.025374412536621 workstation 08-09-2023 simulation
:white_circle: AMD Ryzen 5 PRO 4650G latency 2.7627 workstation 2023-09-13 17:38:13 ✋mean_benchmark 1.6002 ms, rms_benchmark 1.8380 ms, max_benchmark 2.7627 ms, min_benchmark 0.5578 ms, lost messages 0.00 % simulation
:white_circle: AMD Ryzen 5 PRO 4650G power 5.019174575805664 workstation 2023-09-13 17:38:13 ✋mean_benchmark 1.6002 ms, rms_benchmark 1.8380 ms, max_benchmark 2.7627 ms, min_benchmark 0.5578 ms, lost messages 0.00 % simulation
:white_circle: AMD Ryzen 5 PRO 4650G latency 4.0136 workstation 2023-09-13 17:39:17 ✋mean_benchmark 1.0600 ms, rms_benchmark 1.6990 ms, max_benchmark 4.0136 ms, min_benchmark 0.2018 ms, lost messages 0.00 % simulation
:white_circle: AMD Ryzen 5 PRO 4650G power 5.173617839813232 workstation 2023-09-13 17:39:17 ✋mean_benchmark 1.0600 ms, rms_benchmark 1.6990 ms, max_benchmark 4.0136 ms, min_benchmark 0.2018 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.

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