OMPL.app, the front-end for OMPL, contains a lightweight wrapper for the FCL and PQP collision checkers and a simple GUI based on PyQt / PySide. The graphical front-end can be used for planning motions for rigid bodies and a few vehicle types (first-order and second-order cars, a blimp, and a quadrotor). It relies on the Assimp library to import a large variety of mesh formats that can be used to represent the robot and its environment.
Contents of This Library
- OMPL contains implementations of many sampling-based algorithms such as PRM, RRT, EST, SBL, KPIECE, SyCLOP, and several variants of these planners. See available planners for a complete list.
- All these planners operate on very abstractly defined state spaces. Many commonly used state spaces are already implemented (e.g., SE(2), SE(3), Rn, etc.).
- For any state space, different state samplers can be used (e.g., uniform, Gaussian, obstacle based, etc.).
- API overview
- Documentation for just the OMPL core library (i.e., without the “app” layer).
- The OMPL primer provides a brief background on sampling-based motion planning, and an overview of OMPL.
- Download and install OMPL.
- Learn how to use the OMPL.app GUI.
- Demos and tutorials.
- Frequently Asked Questions.
- Familiarize yourself with the Boost structures used throughout OMPL.
- Learn how to integrate your own code with OMPL's build system.
- Learn more about how OMPL is integrated within other systems (such as MoveIt!, OpenRAVE, and MORSE).
- If interested in using Python, make sure to read the documentation for the Python bindings.
- OMPL for education.
- Gallery of example uses of OMPL.
- If you use ROS, the recommended way to use OMPL is through MoveIt!.
- Third-party contributions. (Contribute your own extensions!)
News & Events
- At ROSCON 2013, Sachin Chitta gave a presentation about MoveIt!, the new software framework for motion planning in ROS. It provides a common interface to motion planning libraries (including OMPL). The old ROS arm_navigation stack is now deprecated and all ROS users are encouraged to switch to MoveIt!.
- ICRA 2013 Tutorial on Motion Planning for Mobile Manipulation: State-of-the-art Methods and Tools. Both OMPL and MoveIt! were heavily featured in this tutorial.
- OMPL has won the 2012 Open Source Software World Grand Challenge!
- An article about OMPL has been accepted for publication in IEEE's Robotics & Automation Magazine! It will appear in the December 2012 issue.
- At ROSCON 2012, Sachin Chitta and Ioan Șucan gave a talk about MoveIt!, the new motion planning stack in ROS. It provides a common interface to motion planning libraries in ROS (including OMPL). It will eventually replace the arm navigation stack.
- IROS 2011 Tutorial on Motion Planning for Real Robots. This hands-on tutorial described how to use the ROS and OMPL, but it also provided some background on sampling-based motion planning.