Skip to content
Branch: master
Go to file

Latest commit

pbeeson and Patrick Beeson committed 55bb20a Jul 2, 2020
This fixes a bug in 1.5.0 in LazyPRM. When the first constructor (tha…
…t uses base::SpaceInformationPtr) is called, and then setRange() is called before setMaxNearestNeighbors() or setup() [this is EXACTLY how the default moveit setup is calling this], then setDefaultConnectionStrategy() is called before a NearestNeighbor pointer (nn_) is set up which then crashes OMPL in the LazyPRM constructor. (#735)

Co-authored-by: Patrick Beeson <>


Failed to load latest commit information.

The Open Motion Planning Library (OMPL)

Linux / macOS Build Status Windows Build status

Visit the OMPL installation page for detailed installation instructions.

OMPL has the following required dependencies:

  • Boost (version 1.58 or higher)
  • CMake (version 3.5 or higher)
  • Eigen (version 3.3 or higher)

The following dependencies are optional:

Once dependencies are installed, you can build OMPL on Linux, macOS, and MS Windows. Go to the top-level directory of OMPL and type the following commands:

mkdir -p build/Release
cd build/Release
cmake ../..
# next step is optional
make -j 4 update_bindings # if you want Python bindings
make -j 4 # replace "4" with the number of cores on your machine
You can’t perform that action at this time.