This package contains a ROS interface to ompl. Since the ompl planning library itself does not contain collision checking or robot modeling code (it has abstract implementations of these), we need a layer on top of this, that uses the planning_environment package to provide an implementation for the abstract interfaces ompl needs satisfied.

More documentation on the content of this library is available here.

ROS API

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