or_ompl — OpenRAVE bindings for OMPL

A guest post from Michael Koval at CMU:

The Personal Robotics Lab at CMU is excited to announce or_ompl, an OpenRAVE planner plugin that provides bindings for OMPL. This short video outlines several key features of the plugin:

In summary, or_ompl enables you to:

• Plan in OpenRAVE using the full suite of OMPL geometric motion planners
• Call OMPL’s optimal motion planners, like BIT*, PRM*, and RRT*, in an anytime fashion
• Shortcut trajectories using OMPL’s geometric path simplifier
• Easily expose new OMPL motion planners to OpenRAVE

The source code is BSD licensed and available on Github:

https://github.com/personalrobotics/or_ompl

See the README for installation and usage instructions. Please do not hesitate to open an issue or pull request on Github if you have any issues.