The fork of Open Motion Planning Library (OMPL) with Modified Intelligent Bidirectional Rapidly-exploring Random Tree planner (MIBRRT)

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)

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 -DCMAKE_INSTALL_PREFIX=/opt/ros/${ROS_DISTRO} ../.. 
# 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

How to add the library to MoveIt!

After installation of OMPL from source:

1. Download the MoveIt! source (https://ros-planning.github.io/moveit_tutorials/doc/getting_started/getting_started.html) but don't build the package in your workspace.
2. In your MoveIt! directory, modify src/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp: include the header file that defines your planner at the top and register your planner in the registerDefaultPlanners() function as the existing ones are.
3. Finish the last 2 steps of the MoveIt! installation (catkin_make/catkin build and source the install).
4. If you've already generated MoveIt! config files for your robot, modify /config/ompl_planning.yaml in YOURROBOT_moveit_config to include the option for the new planner.