Installation
Select your operating system:
Ubuntu
Download the OMPL installation script. First, make the script executable:
chmod u+x install-ompl-ubuntu.shNext, there are three ways to run this script:
./install-ompl-ubuntu.sh
will install OMPL without Python bindings./install-ompl-ubuntu.sh --python
will install OMPL with Python bindings./install-ompl-ubuntu.sh --app
will install OMPL.app with Python bindings
apt-get
& pip
and from source. It will ask for your password to install things. The script has been tested on vanilla installs of Ubuntu 14.04 (Trusty), 15.10 (Wily), 16.04 (Xenial), and 17.10 (Artful).
Simply type:
apt-get install libompl-dev ompl-demosNote that this package does not include Python bindings.
Debian packages for OMPL are also found in ROS distributions. Note that these packages do not include Python bindings. To install the ROS version of OMPL you need to add the ROS repository to your list of sources (you have probably have done this already if you are using ROS):
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' wget http://packages.ros.org/ros.key -O - | sudo apt-key add -and install OMPL:
sudo apt-get update sudo apt-get install ros-`rosversion -d`-omplPlease see MoveIt! for further information.
Fedora
Simply type:sudo yum install omplNote that this package does not include Python bindings.
Linux (generic)
OMPL requires Boost (version 1.54 or higher) and CMake (version 2.8.7 or higher). Some additional features are available if Eigen 3 or ODE are installed. To be able to generate python bindings you need to install the Python library and header files and Py++. Finally, you need a C++11 compiler (g++-5 or newer).
Once the dependencies are installed, OMPL can then be compiled like so:
- Create a build directory and run cmake:
cd ompl mkdir -p build/Release cd build/Release cmake ../..
- Optionally, generate the Python bindings with
make -j 4 update_bindings
. - Optionally, run the test programs by typing
make test
. - Optionally, generate the documentation (i.e., a local copy of this web site) by typing
make doc
(requires Doxygen and Graphviz to be installed).
The build system includes a number of options that you can enable or disable.
OS X
Install MacPorts and type:
sudo port sync \; install ompl
Install Homebrew and type:
brew install omplNote that the Homebrew formula does not include Python bindings.