Usage

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. Once deployed, this may be the easiest way to try out OMPL without to compile anything. Detailed instructions on how to use the site are available on the site itself (click on “About” in the top right).

Deploying the OMPL Web App Locally

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_webapp
```

On 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

Docker

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/main/scripts/docker/omplwebapp.yml
 docker-compose -f omplwebapp.yml up

Next, open http://127.0.0.1:5000 in your browser. This also launches Planner Arena, which you can access at http://127.0.0.1:8888.

JavaScript Libraries Used by the OMPL Web App

Library	License	Distributable
jQuery	MIT	Yes
blockUI (jQuery plugin)	MIT and GPL Dual License	Yes (under MIT)
Bootstrap	MIT	Yes
THREE.js	MIT	Yes
TrackballControls	MIT (part of THREE.js)	Yes
ColladaLoader	MIT (part of THREE.js)	Yes

Table of Contents

Usage

Deploying the OMPL Web App Locally

Docker

JavaScript Libraries Used by the OMPL Web App