This page refers to the newest release of OMPL. The new OMPL package is integrated with the existing arm_navigation stack as well as with the new MoveIt! project (release upcoming).

Installation

From debians

OMPL is now it's own debian package:

 sudo apt-get install ros-fuerte-ompl

Documentation

Within arm_navigation

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.

Within MoveIt!

Please see the MoveIt! page.

External documentation

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