Overview

ompl (Open Motion Planning Library) is a free (BSD license) sampling-based motion planning library intended to serve as a framework for motion planners used in ROS. Currently, many of the established algorithms are already implemented (RRT, EST, SBL). Lazy implementations and parallelized versions (multi-core) are also available.

The interface new motion planners have to implement is very simple: a solve() function and a clear() function. This is intentional, so that other researchers can easily add their code to this library. If you would like to add your motion planner to ompl, please contact the author.

API documentation on how to use this library is available here.

A ROS interface to this library is in the ompl_ros package. Other nodes that use this library are ompl_search and ompl_planning.

Video

ROS API

• The ROS API is UNREVIEWED and UNSTABLE
• The C++ API is UNREVIEWED and UNSTABLE