Installing and configuring OMPL

Installation OMPL

#install wget 
sudo apt install wget

# download ompl shell script
wget <https://ompl.kavrakilab.org/install-ompl-ubuntu.sh>

#change file authority
chmod u+x install-ompl-ubuntu.sh

#run shell script with OMPL.app and python binding (maybe full packages)
./install-ompl-ubuntu.sh --app

Build from source (to modify source code)

• Clone OMPL git repo
  • git clone https://github.com/ompl/ompl.git
• Dependencies install
  • Boost (version 1.58 or higher)
  • CMake (version 3.5 or higher)
  • Eigen (verison 3.3 or higher)
• Build OMPL source

mkdir -p build/Release
cd build/Release
cmake ../..

make -j 4 update_bindings # if 

OMPL dev

Installation

sudo apt install imagemagick

Structure of ompl_test

ompl_test/       # root directory
├─ algorithm/    # Modified algorithm files based on OMPL package
│	├─ include/
│	│	└─ RRTstar.h
│	├─ RRTstar.cpp
│
├─ build/        # Package build
│
├─ resources/    # Resources like map or else.
│	└─ ppm/
│		└─ floor.ppm
│
├─ src/          # Main file of this packages
│	└─ Point2DPlanning.cpp

How to build and run ompl_app

cd ./build

#build with cmake & make
cmake ..
make

./ompl_app    #run ompl_app
./ompl_app ../resources/ppm/floor.ppm    #run ompl_app with resources/ppm/floor.ppm file

pnmtopng result_demo.ppm > result.png