$ hg clone https://bitbucket.org/ompl/ompl
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 - sudo apt-get update sudo apt-get install ros-fuerte-ompl
$ svn co https://rice-ros-pkg.svn.sourceforge.net/svnroot/rice-ros-pkg/ompl ompl