Planner Arena

Planner Arena is a site for benchmarking sampling-based planners. The site is set up to show the performance of implementations of various sampling-based planning algorithms in the Open Motion Planning Library (OMPL).

Running Planner Arena locally

Docker

If you are familiar with Docker, then the easiest way to run Planner Arena locally is to run the same docker container we use for our web server:

docker pull kavrakilab/plannerarena:latest
docker run --rm -p 80:80 plannerarena:latest

Direct your browser to http://0.0.0.0:80 to see Planner Arena. There are a couple environment variables to configure Planner Arena by running docker run -e VARIABLE=VALUE ...:

• DATABASE (default value: /benchmark.db): The file name of the default benchmark database (inside the docker container). By mounting a host file inside the container, you can make a local benchmark database the default. For example:

  docker run --rm -p 80:80 --mount type=bind,source=${HOME}/mybenchmark.db,target=/tmp/benchmark.db,readonly -e DATABASE=/tmp/benchmark.db plannerarena:latest
  

• MAX_DB_SIZE (default value: 50000000): The maximum size in bytes of the database that can be uploaded to the server.

• HOSTNAME (default value: 0.0.0.0): The IP address of the host.

If you have cloned this repository and would like to make a custom docker image, type the following commands in the top-level directory of this repository:

R -e 'devtools::build(path=".")'
docker build -t plannerarena:latest .

R

If you are somewhat familiar with R, you can install Planner Arena like so:

R -e 'install.packages("remotes", repos="https://cran.r-project.org"); remotes::install_github("ompl/plannerarena")'

If installation was successful, you can run Planner Arena like so:

R -e "plannerarena::run_app()"

This slightly more complex version of starting Planner Arena enables you to pass in arguments via environment variables as is done for the Docker version:

R -e "options('shiny.port'=80,'shiny.host'='${HOSTNAME}','shiny.maxRequestSize'=${MAX_DB_SIZE},'plannerarena.default_database'='${DATABASE}');library(plannerarena);plannerarena::run_app()"