The Open Motion Planning Library (OMPL)

Linux Windows

This is OMPL.app, an extended version of OMPL that adds support for mesh loading and collision checking as well as a simple GUI.

Visit the OMPL.app installation page for detailed installation instructions.

OMPL.app has the following required dependencies:

• Boost (version 1.54 or higher)
• CMake (version 2.8.7 or higher)
• Eigen (version 3.3 or higher)
• Assimp (version 3.0.1270 or higher)
• FCL (version 0.3.1 or higher)

The following dependencies are optional:

• PyQt (for GUI)
• PyOpenGL (for GUI)
• Py++ (needed to generate Python bindings)
• ODE (needed to compile support for planning using the Open Dynamics Engine)
• Doxygen (needed to create a local copy of the documentation at https://ompl.kavrakilab.org)

Once dependencies are installed, you can build OMPL.app on Linux, macOS, and MS Windows. Go to the top-level directory of OMPL.app and type the following commands:

mkdir -p build/Release
cd build/Release
cmake ../..
# next step is optional
make -j 4 update_bindings # if you want to use the GUI or Python bindings
make -j 4 # replace "4" with the number of cores on your machine