The latest source is available via Mercurial. For anonymous checkout use:
$ hg clone http://ompl.hg.sourceforge.net:8000/hgroot/ompl/ompl
To view the source code right now in your browser, click here. Alternatively, get a zip snapshot here.
A ROS package providing the latest version of this library is available at:
$ svn co https://rice-ros-pkg.svn.sourceforge.net/svnroot/rice-ros-pkg/ompl ompl