If you use Linux or OS X, then all dependencies can be installed either through a package manager or by OMPL's build system. In other words, you probably don't have to compile dependencies from source.
To compile OMPL the following two packages are required:
To be able to generate python bindings you need to install the Python library and header files.
Below are installation instructions for Ubuntu Linux. Similar steps can be taken for other distributions, but package names may not be identical.
For Ubuntu 10.04 (lucid), 11.10 (oneiric) and 12.04 (precise), Willow Garage maintains deb packages for the latest version of OMPL. All you need to do is add the repository to your list of sources:
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-fuerte-ompl
sudo add-apt-repository ppa:boost-latest/ppa
sudo apt-get install libboost-all-dev cmake
sudo apt-get install doxygen graphviz python-dev libode-dev curl
cd ompl mkdir -p build/Release cd build/Release cmake ../..
make installpyplusplus && cmake . # download & install Py++ make update_bindings
make
.make test
.make doc
.sudo make install
. The install location is specified by CMAKE_INSTALL_PREFIX
. If you install in a non-standard location, you have to set the environment variable PYTHONPATH to the directory where the OMPL python module is installed (e.g., $HOME/lib/python2.7/site-packages).yum install ompl
port
command: sudo port selfupdate sudo port install boost +python27 \; install ompl +python27
/opt/local/share/ompl
.sudo port selfupdate sudo port install boost +python27 \; install cmake ode py27-pyplusplus-devel
+python27
part, Boost.Python will not be installed, and the Python bindings for OMPL cannot be compiled./opt/local/bin
). To make this version the default python version, make sure /opt/local/bin
appears before /usr/bin
in your PATH. You can add a line like this to your ${HOME}/.bash_profile
: export PATH=/opt/local/bin:/opt/local/sbin:$PATH
sudo port select python python27
ls -l `which python`
sudo port install doxygen
cd ompl mkdir -p build/Release cd build/Release cmake ../..
make update_bindings
make installpyplusplus && cmake . # download & install Py++
make
.make test
.make doc
.sudo make install
. The install location is specified by CMAKE_INSTALL_PREFIX
. If you install in a non-standard location, you have to set the environment variable PYTHONPATH to the directory where the OMPL python module is installed (e.g., $HOME/lib/python2.7/site-packages).It is possible to run OMPL natively on Windows, although it must be stressed that extensive testing on Windows is not performed at this time, and running OMPL on Windows is considered experimental. For best performance, the MinGW compiler is recommended. Visual Studio can also be used to build the core OMPL library, but currently it is not possible to generate the python bindings for OMPL with this compiler. However, if the bindings are generated with MinGW, the bindings can be compiled by Visual Studio with some minor tweaks to the code (not recommended, unless you are an experienced Windows developer).
BOOST_ROOT
and BOOST_LIBRARYDIR
to the locations where Boost and its libraries are installed. The default locations are C:\Boost
and C:\Boost\lib
. Ensure that BOOST_LIBRARYDIR
is also in the system PATH so that any necessary Boost dlls are loaded properly at runtime.PATH
.C:\gccxml
. You will need to be in a shell with administrator privileges to execute this batch file. Once installed, it is recommended that you open a new shell to realize the new environment settings.cd ompl
mkdir build
cd build
mkdir Release
cd Release
cmake -G "GENERATOR" ../.. [-DCMAKE_INSTALL_PREFIX=/path/to/install]
C:\Program Files (x86)\ompl
by default."MinGW Makefiles"
mingw32-make update_bindings
update_bindings
is never run automatically. If you change any of the OMPL header files, you need to regenerate the bindings for the changes to be reflected in the Python modules. See also the more detailed documentation on generating python bindings.mingw32-make
to build OMPL.mingw32-make install
"Visual Studio 10"
, and the generator for VS 2008 is "Visual Studio 9 2008"
. Consult the CMake documentation for other generators.C:\Program Files (x86)\ompl
(the default). The installation will fail unless Visual Studio is opened with administrator privileges, or a non-system install prefix is specified when cmake is run.