Compare the default KDL plugin with the OPW kinematics plugin for the Kuka KR5 using `rosrun moveit_ros_planning moveit_kinematics_speed_and_validity_evaluator manipulator`

moveit_ik_plugin_comparison

~rosrun moveit_ros_planning moveit_kinematics_speed_and_validity_evaluator manipulator
ros.moveit_core.robot_model: Loading robot model 'kuka_kr5_arc'...
ros.moveit_core.robot_model: No root/virtual joint specified in SRDF. Assuming fixed joint
ros.moveit_opw_kinematics_plugin.opw: MoveItOPWKinematicsPlugin initializing
ros.moveit_opw_kinematics_plugin.opw: Dimension planning group 'manipulator': 6. Active Joints Models: 6. Mimic Joint Models: 0
ros.moveit_opw_kinematics_plugin: Getting kinematic parameters from parameter server.
ros.moveit_opw_kinematics_plugin: Loaded parameters for ik solver:
Distances: [0.18 -0.12 0 0.4 0.6 0.62 0.115]
Offsets = [0 -1.5708 0 0 0 0 ]
Sign_corrections = [-1 1 1 -1 1 -1 ]
ros.moveit_ros_planning: Evaluating IK for manipulator
ros.moveit_ros_planning: Tip Frame:  tool0
ros.moveit_ros_planning: Base Frame: base_link
ros.moveit_ros_planning: IK Timeout: 0.005
ros.moveit_ros_planning: Search res: 0
ros.moveit_ros_planning: Running 1000 tests

 *** Profiling statistics. Total counted time : 0.097953 seconds
Events:
Valid IK: 1000
Averages:
Success Rate: 100 (stddev = 0)
Rotation error: 1.57224e-11 (stddev = 5.63382e-12)
Translation error: 7.19842e-12 (stddev = 4.13499e-12)
Blocks of time:
RobotModelLoader::configure: 0.085895s (87.69%), [0.085895s --> 0.085895 s], 1 parts, 0.085895 s on average (11.6421 /s)
RobotModel::buildModel: 0.055687s (56.8507%), [0.055687s --> 0.055687 s], 1 parts, 0.055687 s on average (17.9575 /s)
RobotModel::constructShape: 0.052811s (53.9146%), [0.000348s --> 0.03011 s], 7 parts, 0.00754443 s on average (132.548 /s)
RobotModelLoader::loadKinematicsSolvers: 0.013029s (13.3013%), [0.013029s --> 0.013029 s], 1 parts, 0.013029 s on average (76.7519 /s)
RobotModelLoader::configure joint limits: 0.010259s (10.4734%), [0.010259s --> 0.010259 s], 1 parts, 0.010259 s on average (97.4754 /s)
IK: 0.009147s (9.33815%), [5e-06s --> 6.6e-05 s], 1000 parts, 9.147e-06 s on average (109325 /s)
RDFLoader(robot_description): 0.006848s (6.99111%), [0.006848s --> 0.006848 s], 1 parts, 0.006848 s on average (146.028 /s)
KinematicsPluginLoader::getLoaderFunction(SRDF): 0.005313s (5.42403%), [0.005313s --> 0.005313 s], 1 parts, 0.005313 s on average (188.218 /s)
RobotModel::buildJointInfo: 3.9e-05s (0.039815%), [3.9e-05s --> 3.9e-05 s], 1 parts, 3.9e-05 s on average (25641 /s)

~rosrun moveit_ros_planning moveit_kinematics_speed_and_validity_evaluator manipulator
ros.moveit_core.robot_model: Loading robot model 'kuka_kr5_arc'...
ros.moveit_core.robot_model: No root/virtual joint specified in SRDF. Assuming fixed joint
ros.moveit_ros_planning: Evaluating IK for manipulator
ros.moveit_ros_planning: Tip Frame:  tool0
ros.moveit_ros_planning: Base Frame: base_link
ros.moveit_ros_planning: IK Timeout: 0.005
ros.moveit_ros_planning: Search res: 0
ros.moveit_ros_planning: Running 1000 tests

 *** Profiling statistics. Total counted time : 0.853831 seconds
Events:
Valid IK: 958
Invalid IK: 42
Averages:
Success Rate: 95.8 (stddev = 20.069)
Rotation error: 0.100765 (stddev = 0.490116)
Translation error: 0.06265 (stddev = 0.318751)
Blocks of time:
IK: 0.792769s (92.8485%), [3.9e-05s --> 0.009376 s], 1000 parts, 0.000792769 s on average (1261.4 /s)
RobotModelLoader::configure: 0.05781s (6.77066%), [0.05781s --> 0.05781 s], 1 parts, 0.05781 s on average (17.298 /s)
RobotModel::buildModel: 0.032634s (3.82207%), [0.032634s --> 0.032634 s], 1 parts, 0.032634 s on average (30.6429 /s)
RobotModel::constructShape: 0.031731s (3.71631%), [0.000364s --> 0.017742 s], 7 parts, 0.004533 s on average (220.604 /s)
RobotModelLoader::loadKinematicsSolvers: 0.013565s (1.58872%), [0.013565s --> 0.013565 s], 1 parts, 0.013565 s on average (73.7191 /s)
RobotModelLoader::configure joint limits: 0.009659s (1.13125%), [0.009659s --> 0.009659 s], 1 parts, 0.009659 s on average (103.53 /s)
KinematicsPluginLoader::getLoaderFunction(SRDF): 0.005112s (0.598713%), [0.005112s --> 0.005112 s], 1 parts, 0.005112 s on average (195.618 /s)
RDFLoader(robot_description): 0.00192s (0.224869%), [0.00192s --> 0.00192 s], 1 parts, 0.00192 s on average (520.833 /s)
RobotModel::buildJointInfo: 3.9e-05s (0.00456765%), [3.9e-05s --> 3.9e-05 s], 1 parts, 3.9e-05 s on average (25641 /s)