OpenRAVE bindings for the
OMPL suite of motion planning algorithms. This
package provides an OMPL plugin that implements the
interface and delegates planning requests to an OMPL planner. It also includes
the "OMPLSimplifier" plugin that exposes OMPL's
PathSimplifier to OpenRAVE
through the same interface. See this demo video
for a brief overview of or_ompl's features.
This is implemented by initializing OMPL with a state space that matches the
joint limits and resolutions of the robot's active DOFs. Collision checking
is implemented by providing OMPL with a custom "state validity checker"
that uses OpenRAVE's
CheckSelfCollision calls to check
for collision with the environment.
or_ompl wraps each OMPL geometric planner as an OpenRAVE planner that
PlannerBase interface. E.g. OMPL's RRTConnect algorithm is
exposed through a
OMPL_RRTConnect planner in OpenRAVE. The planning time
limit and any planner parameters that are exposed through OMPL's
class can be set by name in the
PlannerParameters struct in OpenRAVE.
The wrapper classes necessary to call a planner are automatically generated
planners.yaml configuration file by the Python script
scripts/wrap_planners.py. If you find that a planner is missing, please open
an issue or send a
send us a pull request
with an updated 'planners.yaml' file. The presence or absence of each planner
is determined by testing whether the corresponding header file exists in the
OMPL include directory.
package.xml file for a full list of dependencies. These are the major
- OpenRAVE 0.8 or above (primarily developed in 0.9)
- OMPL 0.10 or above (primarily developed in 0.10 and 0.13)
- ROS optional, see below
CMakeLists.txt file in the root of this repository supports Catkin and
standalone CMake builds. See the appropriate section below for installation
instructions specific to your environment.
This preferred way of building or_ompl. In this case, you should have OpenRAVE and OMPL installed as system dependencies. We use a helper package called openrave_catkin to manage the build process.
Once the dependencies are satisfied, you can simply clone this repository into
your Catkin workspace and run
$ . /my/workspace/devel/setup.bash $ cd /my/workspace/src $ git clone https://github.com/personalrobotics/openrave_catkin.git $ git clone https://github.com/personalrobotics/or_ompl.git $ cd .. $ catkin_make
This will build the OpenRAVE plugins into the
directory in your devel space. If you run
catkin_make install the plugin will
be installed to the same directory in your install space. In both cases, the
corresponding directory will be automatically added to your
path using a Catkin environment
See the documentation for
for more information.
Standalone CMake Build Instructions
You can build or_ompl entirely ROS-agnostic by setting the
$ git clone https://github.com/personalrobotics/or_ompl.git $ mkdir build $ cd build $ cmake -DNO_ROS:bool=1 .. $ make
Just as in the rosbuild case, this will build the plugin in the
directory. You will need to add this directory to your
so that OpenRAVE can find it.
Wherever possible we aim to fully support the full breadth of features in both OMPL and OpenRAVE. However, you should be aware of a few limitations:
- per-joint weights are not supported (unit weights are assumed)
- per-joint resolutions are not supported (a conservative resolution is selected)
- kineodynamic planning is not supported
- planning with affine DOFs is not implemented
- simplifier does not work with the
- no support for multi-query planning (e.g. PRM)
None of these are fundamental issues and we hope, perhaps with your help, to shrink this list over time. We would welcome pull requests for any of these features.
You can find planners provided by this plugin by looking for planners that
start with the
OMPL_ prefix in the output of
The following Python code will plan using OMPL's implementation of RRT-Connect,
then shortcut the trajectory using OMPL's path simplifier. We assume that the
robot is an OpenRAVE robot that is configured with an appropriate
set of active DOFs:
from openravepy import * env = ... # your environment robot = ... # your robot planner = RaveCreatePlanner(env, 'OMPL_RRTConnect') simplifier = RaveCreatePlanner(env, 'OMPL_Simplifier') # Setup the planning instance. params = Planner.PlannerParameters() params.SetRobotActiveJoints(robot) params.SetGoalConfig(goal) # Set the timeout and planner-specific parameters. You can view a list of # supported parameters by calling: planner.SendCommand('GetParameters') params.SetExtraParameters('<range>0.02</range>') planner.InitPlan(robot, params) # Invoke the planner. traj = RaveCreateTrajectory(env, '') result = planner.PlanPath(traj) assert result == PlannerStatus.HasSolution # Shortcut the path. simplifier.InitPlan(robot, Planner.PlannerParameters()) result = simplifier.PlanPath(traj) assert result == PlannerStatus.HasSolution # Time the trajectory. result = planningutils.RetimeTrajectory(traj) assert result == PlannerStatus.HasSolution # Execute the trajectory. robot.GetController().SetPath(traj)
A working version of this script is included in
scripts/example.py. See the
documentation on the OpenRAVE website
for more information about how to invoke an OpenRAVE planner.
Tuning Planner Performance
Collision checking is often the bottleneck for motion planning for manipulators
with the sample-based motion planners included in OMPL. You should consider
using a fast collision checker plugin, like
or_fcl, to achieve best
Additionally, you should consider setting the
ActiveDOFs option during
Allows planners to greatly reduce redundant collision checks. If set and the target object is a robot, then only the links controlled by the currently set active DOFs and their attached bodies will be checked for collisions.
The things that will not be checked for collision are: links that do not move with respect to each other as a result of moving the active dofs.
You can use a
CollisionOptionsStateSaver to set the flag and automatically
restore the collision detector to its original state after planning is done:
with CollisionOptionsStateSaver(env.GetCollisionChecker(), CollisionOptions.ActiveDOFs): result = planner.PlanPath(traj)
The following table shows which OMPL planners are available via
(1 Oct 2015) Note that if you are using the ROS package of OMPL
ros-indigo-ompl then BIT* and FMT* will not be available. To use those planners♣ you will need to install the latest OMPL from source. There is a catkinized package here OMPL_catkin_pkg
|Planner Name||OMPL Library||OpenRAVE
|BIT* (Batch Informed Trees) ♣||BITstar||OMPL_BITstar||✗|
|BKPIECE1 (Bi-directional KPIECE)||BKPIECE1||OMPL_BKPIECE1||✔|
|EST (Expansive Space Trees)||EST||OMPL_EST||✔|
|FMT* (Fast Marching Tree) ♣||FMT||OMPL_FMT||✗|
|KPIECE1 (Kinematic Planning by Interior-Exterior Cell Exploration)||KPIECE1||OMPL_KPIECE1||✔|
|LBKPIECE1 (Lazy Bi-directional KPIECE)||LBKPIECE1||OMPL_LBKPIECE1||✔|
|PDST (Path-Directed Subdivision Trees)||PDST||OMPL_PDST||✗|
|PRM (Probabilistic Road Map)||PRM||OMPL_PRM||✔|
|RRT (Rapidly Exploring Random Trees)||RRT||OMPL_RRT||✔|
|RRTConnect (Bi-directional RRT)||RRTConnect||OMPL_RRTConnect||✔|
|SBL (Single-query Bi-directional Lazy collision checking planner)||SBL||OMPL_SBL||✔|
|SPARS (SPArse Roadmap Spanner)||SPARS||OMPL_SPARS||✗|
|T-RRT (Transition-based RRT)||TRRT||OMPL_TRRT||✗|
|pRRT (Parallel RRT)||pRRT||OMPL_pRRT||✗|
|pSBL (Parallel SBL)||pSBL||OMPL_pSBL||✗|
|Cforest (Coupled Forest of Random Engrafting Search Trees - parallelization framework)||CForest||N/A||N/A|
|BiTRRT (Bidirectional T-RRT)||BiTRRT||N/A||N/A|
|LBTRRT (Lower Bound Tree RRT)||LBTRRT||N/A||N/A|
|STRIDE (Search Tree with Resolution Independent Density Estimation)||STRIDE||N/A||N/A|
or_ompl is licensed under a BSD license. See
LICENSE for more information.
or_ompl was developed by the Personal Robotics Lab in the Robotics Institute at Carnegie Mellon University. This plugin was written by Michael Koval and grew out of earlier plugin written by Christopher Dellin and Matthew Klingensmith.