Installation {#installation}

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Select your operating system:

Ubuntu

Download the OMPL installation script. First, make the script executable:

chmod u+x install-ompl-ubuntu.sh

Next, there are several ways to run this script:

./install-ompl-ubuntu.sh will install the latest release of OMPL without Python bindings
./install-ompl-ubuntu.sh --python will install the latest release of OMPL with Python bindings
./install-ompl-ubuntu.sh --app will install the latest release of OMPL.app with Python bindings
./install-ompl-ubuntu.sh --github will install the main branch of OMPL (this can be combined with the other flags above)

The script downloads and installs OMPL and all dependencies via apt-get & pip and from source. It will ask for your password to install things. The script has been tested on vanilla installs of 16.04 (Xenial) and higher. The Python binding generation requires a lot of RAM; having 6GB or more available is recommended.

Simply type:

apt-get install libompl-dev ompl-demos

Note 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`-ompl

Please see MoveIt for further information.

Fedora

Simply type:

sudo yum install ompl

Note that this package does not include Python bindings.

Linux (generic)

OMPL requires Boost (version 1.68 or higher), CMake (version 3.5 or higher), Eigen (version 3.3 or higher), and yaml-cpp (for parsing YAML configuration files, required for VAMP demos). To be able to generate python bindings you need to install the Python library and header files and Py++. Finally, you need a C++17 compiler (g++-7 or newer).

Note: OMPL includes VAMP (Vector-Accelerated Motion Planning) by default, which requires git for submodule initialization.

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. The Python binding generation requires a lot of RAM; having 6GB or more available is recommended.
Compile OMPL by typing make -j 4.
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.

macOS

MacPorts Homebrew

Install MacPorts and type:

sudo port sync \; install ompl

If you want to build OMPL from source, you can install just the OMPL dependencies like so:

sudo port install `port -q info --depends ompl | sed 's/,//g'`

Note: OMPL includes VAMP (Vector-Accelerated Motion Planning) by default, which requires git for submodule initialization.

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.
Compile OMPL by typing make -j 4.

Install Homebrew and type:

brew install ompl

Note that the Homebrew formula does not include Python bindings. You could install all the dependencies for OMPL and the Python bindings and build OMPL from source:

brew install eigen castxml numpy boost-python3 pypy3 flann yaml-cpp

Note: OMPL includes VAMP (Vector-Accelerated Motion Planning) by default, which requires git for submodule initialization.

When building from source, initialize git submodules for VAMP:

git submodule update --init --recursive

Make sure to use Homebrew's python3 in that case by calling cmake like so:

cmake -DPYTHON_EXEC=/usr/local/bin/python3 ...

MS Windows

It is recommended to use vcpkg, a Microsoft-supported package manager for open source software. Once you have vcpkg installed, you can install OMPL like so:

vcpkg install ompl

Note that the vcpkg installation does not include Python bindings.

If you want to build OMPL from source on Windows:

Note: OMPL includes VAMP (Vector-Accelerated Motion Planning) by default, which requires git for submodule initialization.

Follow the standard CMake build process with your preferred compiler (Visual Studio, MinGW, etc.)

CMake Fetchcontent

If you want to build ompl from source as part of another repository, FetchContent is one approach. In CMake, you can fetch and link like so:

include(FetchContent)
FetchContent_Declare(
  ompl
  GIT_REPOSITORY https://github.com/ompl/ompl.git
  GIT_SUBMODULES_RECURSE ON  # Required for VAMP integration
)
FetchContent_MakeAvailable(ompl)
add_executable(main main.cpp)
target_link_libraries(main PRIVATE ompl::ompl)

Note: The GIT_SUBMODULES_RECURSE ON option ensures that VAMP submodules are automatically initialized.

Python Wheels

There are pre-built binary wheels for Python versions 3.10, 3.11, and 3.12. Download the right zip file for you OS and architecture:

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