zichunxx / ompl

The Open Motion Planning Library (OMPL)

The Open Motion Planning Library (OMPL)

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)

Some necessary dependencies when build ompl for mamba virtual env:

mamba install boost, libboost, py-boost

pip install castxml

Once dependencies are installed, build OMPL on Ubuntu20.04. Go to the top-level directory of OMPL and type the following commands:

mkdir -p build/Release
cd build/Release 
# for building python bindings in custom virtual env
# echo $CONDA_PREFIX
cmake ../.. -DCMAKE_INSTALL_PREFIX="$CONDA_PREFIX" -DBOOST_ROOT="$CONDA_PREFIX" -DPYTHON_EXEC=/home/xzc/mambaforge/envs/tianshou/bin/python3.7 -DPYTHONPATH=/home/xzc/mambaforge/envs/tianshou/lib/python3.7/site-packages
make -j 4 update_bindings # if you want Python bindings
make -j 4 # replace "4" with the number of cores on your machine

In .py file:

import sys
sys.path.append('/home/xzc/Documents/ompl/py-bindings/')

Related Issue

ompl#999 (comment)

Logic of calling OMPL in Moveit

Step 1: moveit::core::MoveItErrorCode plan(Plan& plan)

Step 2.1: constructGoal(goal)

Step 2.2: constructMotionPlanRequest $\rightarrow$ corresponding function

Step 2.3: SendGoal

Step 3.1: MoveGroupMoveAction::executeMoveCallback

Step 3.2: MoveGroupMoveAction::executeMoveCallbackPlanOnly

Step 3.3: planning_pipeline::PlanningPipeline::generatePlan

Step 3.4: Solve

Step 3.5: ompl_interface::ModelBasedPlanningContext