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The Open Motion Planning Library (OMPL)

Linux / macOS Build Status Windows Build status

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)
  • Flann (FLANN can be used for nearest neighbor queries by OMPL)
  • Spot (Used for constructing finite automata from LTL formulae.)

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 -p build/Release
cd build/Release
cmake ../..
# next step is optional
make -j 4 update_bindings # if you want Python bindings
make -j 4 # replace "4" with the number of cores on your machine