The Open Motion Planning Library (OMPL)

Linux / macOS Windows

Please Visit the OMPL installation page for detailed installation instructions.

OMPL has the following required dependencies:

• Boost (version 1.58 or higher)
• CMake (version 3.5 or higher)
• Eigen (version 3.3 or higher)

The following dependencies are optional:

• ODE (needed to compile support for planning using the Open Dynamics Engine)
• Py++ (needed to generate Python bindings)
• Doxygen (needed to create a local copy of the documentation at https://ompl.kavrakilab.org/core)

The following dependencies are highly recommend:

• Planner Developer Tools (PDT) (recommended to check the documentation at https://robotic-esp.com/papers/gammell_empp22.pdf) (released version)
• Moveit! (recommended to check the documentation at https://moveit.ai/) (or Moveit2)
• OpenRAVE (recommended to check the documentation at https://openrave.org/) (released version)
• Ompl Benchmark Plotter (recommended to check the git repos for benchmark) (released version)

To change the iteration time lagging in PDT, replace the following condition in RandomGeometricGraph.cpp file of the planner:

while (newSamples_.size() < numNewStates && !terminationCondition);

$\Downarrow$ $\Downarrow$ $\Downarrow$ $\Downarrow$ $\Downarrow$ $\Downarrow$

while (newSamples_.size() < numNewStates);

If you found this research useful for your own work, please use the following citation:

@ARTICLE{MIT_2025,
  author={Zhang, Liding and Cai, Kuanqi and Zhang, Yu and Bing, Zhenshan and Wang, Chaoqun and Wu, Fan and Haddadin, Sami and Knoll, Alois},
  journal={IEEE Transactions on Automation Science and Engineering}, 
  title={Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler}, 
  year={2025},
  volume={22},
  number={},
  pages={18580-18593},
  doi={10.1109/TASE.2025.3590084},
  ISSN={1558-3783},
  month={},}

Installation of OPENRAVE

Install Python 2.7

sudo apt-get update
sudo apt-get install python2

Check the default Python version

python --version && python3 --version

Python 2.7 as the default version by creating a symbolic link

sudo update-alternatives --install /usr/bin/python python /usr/bin/python2 1
sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 2

Manually select Python version 2.7; you can change it back when OPENRAVE is installed

sudo update-alternatives --config python

installation of OPENRAVE repos

cd ~
git clone https://github.com/crigroup/openrave-installation
cd openrave-insstallation

install and build OPERAVE in order

sudo ./install-dependencies.sh
sudo ./install-osg.sh
sudo ./install-fcl.sh
sudo ./install-openrave.sh

OMPL and PDT Installation

Once dependencies are installed, you can build OMPL on Linux, macOS, and MS Windows. Go to the top-level directory of OMPL and type the following commands

mkdir build
cd build

You can use macro commands to toggle the code you want to compile

cmake -DCMAKE_BUILD_TYPE=Debug -DOMPL_BUILD_TESTS=OFF -DOMPL_BUILD_DEMOS=OFF ..
make -j 4 # depends on the core you are using

install build into /usr/local folder

sudo cmake --install .

switch to pdt folder

cd ../..
cd pdt/build

#### this is for install
cmake -DPDT_OMPL_DIR=/usr/local -DPDT_OPEN_RAVE=ON ..

### this is for MoveIt version
cmake -DPDT_OMPL_DIR=~/ws_moveit/devel -DPDT_OPEN_RAVE=ON ..

### for moveGroup test. Indicate which OMPL you are using
lsof -p $(pidof move_group) | grep ompl

make -j 4 # depends on the core you are using

GDB debug for moveit issues:

gdb /home/usr/ws_moveit/devel/lib/moveit_ros_move_group/move_group

run --debug

cd ~/ws_moveit/src

./launch

show OPENRAVE visualization result according to the open_rave_demo config

./bin/open_rave_gui -c ../parameters/demo/open_rave_demo.json

in case you are an old version of PDT: change in open_rave_demo.json

"viewer": "qtcoin",
to
"viewer": "qtosg",

show visualization result according to the demo config

./bin/visualization -c ../parameters/demo/visualization_demo.json 

run benchmark result according to the demo config (also fit for OPENRAVE)

./bin/benchmark -c ../parameters/demo/benchmark_demo.json 

reproduce benchmark pdf according to the demo config

creat report_config.json in demo/ folder

./bin/benchmark_report -c ../parameters/demo/report_config.json

Some useful seeds to test:

Dimension	RandomRectangles	WallGap	DividingWalls	Narrow Passages
2D	18439216171772023587	18439216101061917922	10924827021061192	10924827021061192
	10927753138516356	-	18439216260414396571
2D vis	10927839490220270	-	10929751161392370	-
2D vis	10927840588229561	-	10929751708513941	-
2D vis	10929550337638445	-	10929752226107993	-
2D vis	10930003745054246	-	10929752226107993	-
4D	18439216260414396571	18439216356605802780	10925074149542957	10929992020276563
8D	18439216263452514894	18439218256663499061	10929382775375323	-
16D	10929320195794061	18439218256663499061	10929382034216219	10929994540264705