MoveIt: Gazebo-in-loop OMPL Planner benchmarking

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Hi all, i used the benchmarking tool of MoveIt to evaluate the performance of the planners., according to this tutorial: http://docs.ros.org/kinetic/api/movei...

But what i want do is to have gazebo in loop benchmarking, so the benchmarking results would also be affected by the physics of the gazebo model and also verify that the robot follows the planned path correctly. I couldn't find a straight forward method to do this. has anyone tried it?