This page refers to the newest release of OMPL. The new OMPL package is integrated with a new ROS interface in the ompl_ros_interface package. These packages have been released and can be used from the Diamondback release of ROS.

Documentation

For documentation and tutorials on configuring motion planners for robot arms or mobile manipulation systems, use the ompl_ros_interface package which allows easy configuration through YAML. The tutorials for that package will walk you through the steps in configuring the motion planners for your robot.

For documentation and tutorials on OMPL itself, check out the OMPL page.