OMPL, the Open Motion Planning Library, consists of many state-of-the-art sampling-based motion planning algorithms. OMPL itself does not contain any code related to, e.g., collision checking or visualization. This is a deliberate design choice, so that OMPL is not tied to a particular collision checker or visualization front end. The library is designed so it can be easily integrated into systems that provide the additional needed components.

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.

Current version: 1.4.0
Released: Jun 25, 2018 Click for citation,
if you use OMPL in your work

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).

Getting Started

• 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.
• 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, V-REP, and MORSE).
• If interested in using Python, make sure to read the documentation for the Python bindings.

Other Resources

• 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!)