  Local motion planning is a heavily researched topic in the field of robotics
with many promising algorithms being published every year. However, it is
difficult and time-consuming to compare different methods in the field. In this
paper, we present localPlannerBench, a new benchmarking suite that allows quick
and seamless comparison between local motion planning algorithms. The key focus
of the project lies in the extensibility of the environment and the simulation
cases. Out-of-the-box, localPlannerBench already supports many simulation cases
ranging from a simple 2D point mass to full-fledged 3D 7DoF manipulators, and
it is straightforward to add your own custom robot using a URDF file. A
post-processor is built-in that can be extended with custom metrics and plots.
To integrate your own motion planner, simply create a wrapper that derives from
the provided base class. Ultimately we aim to improve the reproducibility of
local motion planning algorithms and encourage standardized open-source
comparison.
