pre-commit fix and gotten max_solution_number parametrically

config/pick_place_demo_configs.yaml

@@ -46,4 +46,3 @@
     # Valid height range when lifting an object after pick
     lift_object_min_dist: 0.01
     lift_object_max_dist: 0.1
-

include/moveit_middleware_benchmark/scenarios/moveit_task_constructor/pick_place_task.hpp

@@ -61,7 +61,8 @@
 
 #pragma once
 
-namespace moveit_task_constructor_demo {
+namespace moveit_task_constructor_demo
+{
 using namespace moveit::task_constructor;
 
 // prepare a demo environment from ROS parameters under node
@@ -73,18 +74,17 @@ void destroyDemoScene(const pick_place_task_demo::Params& params);
 class PickPlaceTask
 {
 public:
-	PickPlaceTask(const std::string& task_name);
-	~PickPlaceTask() = default;
+  PickPlaceTask(const std::string& task_name);
+  ~PickPlaceTask() = default;
 
-	bool init(const rclcpp::Node::SharedPtr& node, const pick_place_task_demo::Params& params);
+  bool init(const rclcpp::Node::SharedPtr& node, const pick_place_task_demo::Params& params);
 
-	bool plan(const std::size_t max_solutions);
+  bool plan(const std::size_t max_solutions);
 
-	bool execute();
+  bool execute();
 
 private:
-	std::string task_name_;
-	moveit::task_constructor::TaskPtr task_;
+  std::string task_name_;
+  moveit::task_constructor::TaskPtr task_;
 };
 }  // namespace moveit_task_constructor_demo
-

include/moveit_middleware_benchmark/scenarios/moveit_task_constructor/scenario_moveit_task_constructor.hpp

@@ -43,12 +43,6 @@
 #include <benchmark/benchmark.h>
 #include <memory>
 
-#include <ament_index_cpp/get_package_share_directory.hpp>
-
-#include <moveit/moveit_cpp/moveit_cpp.h>
-#include <moveit/moveit_cpp/planning_component.h>
-#include <moveit/move_group_interface/move_group_interface.h>
-
 #include "moveit_middleware_benchmark/scenarios/moveit_task_constructor/pick_place_task.hpp"
 
 namespace
@@ -63,7 +57,7 @@ namespace middleware_benchmark
 class ScenarioMoveItTaskConstructor
 {
 public:
-  ScenarioMoveItTaskConstructor(const rclcpp::Node::SharedPtr & node);
+  ScenarioMoveItTaskConstructor(const rclcpp::Node::SharedPtr& node);
   ~ScenarioMoveItTaskConstructor();
 
   void runTestCase();
@@ -91,4 +85,4 @@ class ScenarioMoveItTaskConstructorFixture : public benchmark::Fixture
 };
 
 }  // namespace middleware_benchmark
-}  // namespace moveit
+}  // namespace moveit

launch/scenario_moveit_task_constructor_benchmark.launch.py

@@ -38,40 +38,21 @@ def launch_setup(context, *args, **kwargs):
             publish_robot_description=True, publish_robot_description_semantic=True
         )
         .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
-        .planning_pipelines(
-            pipelines=["ompl"]
-        )
+        .planning_pipelines(pipelines=["ompl"])
         .to_moveit_configs()
     )
 
-    # RViz for DEBUGGING STUFFS
-    rviz_config_file = (
-        get_package_share_directory("moveit_task_constructor_demo") + "/config/mtc.rviz"
-    )
-    rviz_node = Node(
-        package="rviz2",
-        executable="rviz2",
-        name="rviz2",
-        output="log",
-        arguments=["-d", rviz_config_file],
-        parameters=[
-            moveit_config.robot_description,
-            moveit_config.robot_description_semantic,
-            moveit_config.robot_description_kinematics,
-            moveit_config.planning_pipelines,
-        ],
-    )
-
     # Load  ExecuteTaskSolutionCapability so we can execute found solutions in simulation
-    move_group_capabilities = {"capabilities": "move_group/ExecuteTaskSolutionCapability"}
+    move_group_capabilities = {
+        "capabilities": "move_group/ExecuteTaskSolutionCapability"
+    }
 
     # Start the actual move_group node/action server
     move_group_node = Node(
         package="moveit_ros_move_group",
         executable="move_group",
         output="screen",
-        parameters=[moveit_config.to_dict(),
-        move_group_capabilities],
+        parameters=[moveit_config.to_dict(), move_group_capabilities],
         arguments=["--ros-args", "--log-level", "info"],
     )
 
@@ -161,7 +142,6 @@ def launch_setup(context, *args, **kwargs):
         joint_state_broadcaster_spawner,
         panda_arm_controller_spawner,
         panda_hand_controller_spawner,
-        rviz_node,
         # for https://github.com/ros-controls/ros2_controllers/issues/981
         RegisterEventHandler(
             OnProcessExit(
@@ -182,7 +162,7 @@ def generate_launch_description():
 
     benchmark_command_args = DeclareLaunchArgument(
         "benchmark_command_args",
-        default_value="--benchmark_out=middleware_benchmark_results.json --benchmark_out_format=json --benchmark_repetitions=6",
+        default_value="--benchmark_out=middleware_benchmark_results.json --benchmark_out_format=json --benchmark_repetitions=20",
         description="Google Benchmark Tool Arguments",
     )
     declared_arguments.append(benchmark_command_args)
@@ -197,4 +177,3 @@ def generate_launch_description():
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
     )
-

src/scenarios/moveit_task_constructor/pick_place_demo_parameters.yaml

@@ -95,4 +95,3 @@ pick_place_task_demo:
     type: double
   lift_object_max_dist:
     type: double
-