OMPL APPs Repository

This Repository is for practice about the OMPL.
On CPP/NAIST directory, there are samples that texted on the NAIST Online Text.

Environment

PC	Lenovo ThinkPad X240
Prosessor	Intel Core i7-4600U (2.10GHz, 4MB, 1600MHz)
RAM	PC3-12800 DDR3L (8GB)
OS	Ubuntu 14.04 LTS 64bit (Trusty)
Kernel	3.13.0-108-generic

Installation

Installation of OMPL with shell script

!! If you want to compile with NAIST samples, BUILD 1.0.0 VERSION !!
Based on the official installation shell script, I modified something that is not worked.
If you've not installed the OMPL library yet, run the shell script like following. And this script bring you OMPL-1.3.0 version.

$ git clone https://github.com/RyodoTanaka/ompl_apps.git
$ cd ompl_apps
$ chmod u+x ./install/install-ompl-1.3.0-ubuntu.sh

And then, You can choose the option as you wish.

• $ ./install/install-ompl-1.3.0-ubuntu.sh will install OMPL without Python bindings
• $ ./install/install-ompl-1.3.0-ubuntu.sh --python will install OMPL with Python bindings
• $ ./install/install-ompl-1.3.0-ubuntu.sh --app will install OMPL.app with Python bindings

!!! CAUTION !!!

If you choose --python or --app option, OMPL will be installed with Python bindings.
BUT, It takes ABOUT 8 HOURS or more.... This is issued on here and here.

Installation for developer in C++

1. Go to cpp/example directory.

2. Just execute compile.bash script.

3. If you add your own program...

Just add configuration into CMakeLists.txt.
And go to 2. procedure.

How to execute ?

CPP programs

First of all, you need to compile the programs.

$ cd <ompl_apps>
$ cd <CPP directory>
$ source build.sh

And then run setup.bash

$ source setup.bash

This setup.bash brings you omplrun command.
omplrun command automatically detect the execution files using Tab Completion.

Python programs

Run each python programs in usual way !