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The OMPL web app is a web front end for motion planning and benchmarking using OMPL. Basic usage is very similar to the standalone GUI. Since you only need a web browser, this may be the easiest way to try out OMPL without having to install or compile anything. Detailed instructions on how to use the site are available on the site itself (click on “About” in the top right).
One of the cool features of the OMPL web app is that you can configure and run motion planning benchmarks on our server. Once you have configured a motion planning problem, you can specify that this problem should be solved by various different planning algorithm. The results will be computed in the background and passed on to Planner Arena, a server that is designed for letting you explore interactively the results of motion planning benchmarks.
It is possible to run the OMPL web app locally, i.e., run the web server on your own machine. The instructions below have been tested on Ubuntu Linux.
- Compile and install OMPL.app (including its Python bindings).
- Install the Python Flask and Celery packages:
sudo apt-get install python-pip pip install flask pip install celery
- Install RabbitMQ (the daemon is automatically launched upon install):
sudo apt-get install rabbitmq-server
- Run the OMPL web app:
ompl_webappOn macOS, the following steps get the Web App can be installed and launched using Macports with these commands:
sudo port install ompl +app sudo port load redis ompl_webapp
The OMPL web app is also available as a set of Docker containers. The easiest way to download and run everything you need is as follows:
wget https://raw.githubusercontent.com/ompl/ompl/master/scripts/docker/omplwebapp.yml docker-compose -f omplwebapp.yml up
|blockUI (jQuery plugin)||MIT and GPL Dual License||Yes (under MIT)|
|TrackballControls||MIT (part of THREE.js)||Yes|
|ColladaLoader||MIT (part of THREE.js)||Yes|