OMPL Planner Arena

The OMPL Planner Arena code allows you to easily create plots from a benchmark database produced from benchmark log files. See also and the benchmarking tutorial.


  • R 3.1.0 or higher
    The R packages on Ubuntu (and likely other Linux distributions) are too old. See the CRAN Ubuntu page for details on how to get packages for the latest version of R.
  • On Ubuntu you need to install libv8-dev.
  • The following R packages: shiny, shinyjs, V8, ggplot2, Hmisc, RSQLite, and markdown. These packages can be installed like so:
    sudo R -e "install.packages(c('shiny', 'shinyjs', 'V8', 'ggplot2', 'Hmisc', 'dplyr', 'tidyr', 'RSQLite', 'markdown'), repos='')"


First, produce a series of benchmark log files. Next, produce a database called benchmark.db with After that, you need to run the script plannerarena, which launches Planner Arena (if the script is not in your path, it is in the directory ompl/scripts/plannerarena). After you upload your database via the web page that should have opened in your browser, it should look similar to