collapse OMPL plugin to one package

moveit · Apr 6, 2013 · 6b6dca1 · 6b6dca1
1 parent 71cdc9a
commit 6b6dca1
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Showing 66 changed files with 103 additions and 191 deletions.
diff --git a/moveit_planners/package.xml b/moveit_planners/package.xml
@@ -4,7 +4,6 @@
   <description>Metapacakge that installs all available planners for MoveIt</description>
   <author email="isucan@willowgarage.com">Ioan Sucan</author>
   <author email="sachinc@willowgarage.com">Sachin Chitta</author>
-  <author email="gjones@willowgarage.com">Gil Jones</author>
 
   <maintainer email="isucan@willowgarage.com">Ioan Sucan</maintainer>
 
@@ -14,8 +13,7 @@
   <url type="bugtracker">https://github.com/ros-planning/moveit_planners/issues</url>
   <url type="repository">https://github.com/ros-planning/moveit_planners</url>
 
-  <run_depend>moveit_ompl_planners_core</run_depend>
-  <run_depend>moveit_ompl_planners_ros_plugin</run_depend>
+  <run_depend>moveit_ompl_planners</run_depend>
 
   <export>
     <metapackage/>

diff --git a/ompl/core/CMakeLists.txt → ompl/CMakeLists.txt b/ompl/core/CMakeLists.txt → ompl/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(moveit_ompl_planners_core)
+project(moveit_ompl_planners)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
@@ -8,31 +8,44 @@ endif()
 find_package(Eigen REQUIRED)
 find_package(Boost REQUIRED system filesystem date_time thread serialization)
 find_package(catkin REQUIRED COMPONENTS
-  moveit_core
+  moveit_core 
+  moveit_ros_planning
+  roscpp
+  rosconsole
+  pluginlib
+  tf
+  dynamic_reconfigure
   eigen_conversions
   )
 
-include(cmake/addOMPLDep.cmake.in)
+find_package(OMPL REQUIRED)
 
+generate_dynamic_reconfigure_options("ompl_interface/cfg/OMPLDynamicReconfigure.cfg")
 
 catkin_package(
   LIBRARIES
     moveit_ompl_interface
+    ${OMPL_LIBRARIES}
   INCLUDE_DIRS
+    ${OMPL_INCLUDE_DIRS}
     ompl_interface/include
   CATKIN_DEPENDS
     moveit_core
-  CFG_EXTRAS
-    addOMPLDep.cmake)
+)
 
 include_directories(SYSTEM
                     ${EIGEN_INCLUDE_DIRS}
                     ${Boost_INCLUDE_DIRS})
 
-include_directories(ompl_interface/include 
+include_directories(${OMPL_INCLUDE_DIRS}
+                    ompl_interface/include
                     ${catkin_INCLUDE_DIRS})
 
 link_directories(${catkin_LIBRARY_DIRS})
 link_directories(${Boost_LIBRARY_DIRS})
+link_directories(${OMPL_LIBRARY_DIRS})
 
 add_subdirectory(ompl_interface)
+
+install(FILES ompl_interface_plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/ompl/core/cmake/addOMPLDep.cmake.in b/ompl/core/cmake/addOMPLDep.cmake.in
diff --git a/ompl/core/ompl_interface/CMakeLists.txt → ompl/ompl_interface/CMakeLists.txt b/ompl/core/ompl_interface/CMakeLists.txt → ompl/ompl_interface/CMakeLists.txt
@@ -1,6 +1,6 @@
 set(MOVEIT_LIB_NAME moveit_ompl_interface)
 
-add_library(moveit_ompl_interface
+add_library(${MOVEIT_LIB_NAME}
   src/ompl_interface.cpp
   src/planning_context_manager.cpp
   src/constraints_library.cpp
@@ -20,15 +20,27 @@ add_library(moveit_ompl_interface
   src/detail/constrained_valid_state_sampler.cpp
   src/detail/constrained_goal_sampler.cpp
   src/detail/ompl_console.cpp
+  src/ompl_interface_ros.cpp
 )
 
 find_package(OpenMP)
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+
 target_link_libraries(${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
 
 catkin_add_gtest(test_state_space test/test_state_space.cpp)
 target_link_libraries(test_state_space ${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 set_target_properties(test_state_space PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION lib)
+add_executable(moveit_ompl_planner src/ompl_planner.cpp)
+target_link_libraries(moveit_ompl_planner ${MOVEIT_LIB_NAME})
+set_target_properties(moveit_ompl_planner PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
+
+add_library(moveit_ompl_planner_plugin src/ompl_plugin.cpp)
+target_link_libraries(moveit_ompl_planner_plugin ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
+install(TARGETS ${MOVEIT_LIB_NAME} moveit_ompl_planner moveit_ompl_planner_plugin
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 install(DIRECTORY include/ DESTINATION include)
diff --git a/...erface_ros/cfg/OMPLDynamicReconfigure.cfg → ..._interface/cfg/OMPLDynamicReconfigure.cfg b/...erface_ros/cfg/OMPLDynamicReconfigure.cfg → ..._interface/cfg/OMPLDynamicReconfigure.cfg
@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE = "moveit_ompl_planners_ros_plugin"
+PACKAGE = "moveit_ompl_planners"
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()

diff --git a/.../ompl_interface_ros/cfg/OMPLParamsDR.cfgc → ompl/ompl_interface/cfg/OMPLParamsDR.cfgc b/.../ompl_interface_ros/cfg/OMPLParamsDR.cfgc → ompl/ompl_interface/cfg/OMPLParamsDR.cfgc
diff --git a/...erface_ros/OMPLDynamicReconfigureConfig.h → ...erface_ros/OMPLDynamicReconfigureConfig.h b/...erface_ros/OMPLDynamicReconfigureConfig.h → ...erface_ros/OMPLDynamicReconfigureConfig.h
diff --git a/...cs/OMPLDynamicReconfigureConfig-usage.dox → ...cs/OMPLDynamicReconfigureConfig-usage.dox b/...cs/OMPLDynamicReconfigureConfig-usage.dox → ...cs/OMPLDynamicReconfigureConfig-usage.dox
diff --git a/...ros/docs/OMPLDynamicReconfigureConfig.dox → ...ace/docs/OMPLDynamicReconfigureConfig.dox b/...ros/docs/OMPLDynamicReconfigureConfig.dox → ...ace/docs/OMPLDynamicReconfigureConfig.dox
diff --git a/...docs/OMPLDynamicReconfigureConfig.wikidoc → ...docs/OMPLDynamicReconfigureConfig.wikidoc b/...docs/OMPLDynamicReconfigureConfig.wikidoc → ...docs/OMPLDynamicReconfigureConfig.wikidoc
diff --git a/...veit/ompl_interface/constraints_library.h → ...veit/ompl_interface/constraints_library.h b/...veit/ompl_interface/constraints_library.h → ...veit/ompl_interface/constraints_library.h
diff --git a/...terface/detail/constrained_goal_sampler.h → ...terface/detail/constrained_goal_sampler.h b/...terface/detail/constrained_goal_sampler.h → ...terface/detail/constrained_goal_sampler.h
diff --git a/...pl_interface/detail/constrained_sampler.h → ...pl_interface/detail/constrained_sampler.h b/...pl_interface/detail/constrained_sampler.h → ...pl_interface/detail/constrained_sampler.h
diff --git a/.../detail/constrained_valid_state_sampler.h → .../detail/constrained_valid_state_sampler.h b/.../detail/constrained_valid_state_sampler.h → .../detail/constrained_valid_state_sampler.h
diff --git a/...erface/detail/constraint_approximations.h → ...erface/detail/constraint_approximations.h b/...erface/detail/constraint_approximations.h → ...erface/detail/constraint_approximations.h
diff --git a/...moveit/ompl_interface/detail/goal_union.h → ...moveit/ompl_interface/detail/goal_union.h b/...moveit/ompl_interface/detail/goal_union.h → ...moveit/ompl_interface/detail/goal_union.h
diff --git a/..._interface/detail/projection_evaluators.h → ..._interface/detail/projection_evaluators.h b/..._interface/detail/projection_evaluators.h → ..._interface/detail/projection_evaluators.h
diff --git a/...interface/detail/state_validity_checker.h → ...interface/detail/state_validity_checker.h b/...interface/detail/state_validity_checker.h → ...interface/detail/state_validity_checker.h
diff --git a/...terface/detail/threadsafe_state_storage.h → ...terface/detail/threadsafe_state_storage.h b/...terface/detail/threadsafe_state_storage.h → ...terface/detail/threadsafe_state_storage.h
diff --git a/..._interface/model_based_planning_context.h → ..._interface/model_based_planning_context.h b/..._interface/model_based_planning_context.h → ..._interface/model_based_planning_context.h
diff --git a/...de/moveit/ompl_interface/ompl_interface.h → ...de/moveit/ompl_interface/ompl_interface.h b/...de/moveit/ompl_interface/ompl_interface.h → ...de/moveit/ompl_interface/ompl_interface.h
diff --git a/...t/ompl_interface_ros/ompl_interface_ros.h → ...oveit/ompl_interface/ompl_interface_ros.h b/...t/ompl_interface_ros/ompl_interface_ros.h → ...oveit/ompl_interface/ompl_interface_ros.h
@@ -41,10 +41,10 @@
 #include <moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h>
 #include <ros/ros.h>
 
-namespace ompl_interface_ros
+namespace ompl_interface
 {
    /** @class OMPLInterfaceROS */
-    class OMPLInterfaceROS : public ompl_interface::OMPLInterface
+    class OMPLInterfaceROS : public OMPLInterface
     {
     public:
       /** @brief Constructor

diff --git a/...ion/joint_space/joint_model_state_space.h → ...ion/joint_space/joint_model_state_space.h b/...ion/joint_space/joint_model_state_space.h → ...ion/joint_space/joint_model_state_space.h
diff --git a/...t_space/joint_model_state_space_factory.h → ...t_space/joint_model_state_space_factory.h b/...t_space/joint_model_state_space_factory.h → ...t_space/joint_model_state_space_factory.h
diff --git a/...erization/model_based_joint_state_space.h → ...erization/model_based_joint_state_space.h b/...erization/model_based_joint_state_space.h → ...erization/model_based_joint_state_space.h
diff --git a/...arameterization/model_based_state_space.h → ...arameterization/model_based_state_space.h b/...arameterization/model_based_state_space.h → ...arameterization/model_based_state_space.h
diff --git a/...ization/model_based_state_space_factory.h → ...ization/model_based_state_space_factory.h b/...ization/model_based_state_space_factory.h → ...ization/model_based_state_space_factory.h
diff --git a/...ation/work_space/pose_model_state_space.h → ...ation/work_space/pose_model_state_space.h b/...ation/work_space/pose_model_state_space.h → ...ation/work_space/pose_model_state_space.h
diff --git a/...rk_space/pose_model_state_space_factory.h → ...rk_space/pose_model_state_space_factory.h b/...rk_space/pose_model_state_space_factory.h → ...rk_space/pose_model_state_space_factory.h
diff --git a/...ompl_interface/planning_context_manager.h → ...ompl_interface/planning_context_manager.h b/...ompl_interface/planning_context_manager.h → ...ompl_interface/planning_context_manager.h
diff --git a/...mpl_interface/src/constraints_library.cpp → ...mpl_interface/src/constraints_library.cpp b/...mpl_interface/src/constraints_library.cpp → ...mpl_interface/src/constraints_library.cpp
diff --git a/...e/src/detail/constrained_goal_sampler.cpp → ...e/src/detail/constrained_goal_sampler.cpp b/...e/src/detail/constrained_goal_sampler.cpp → ...e/src/detail/constrained_goal_sampler.cpp
diff --git a/...erface/src/detail/constrained_sampler.cpp → ...erface/src/detail/constrained_sampler.cpp b/...erface/src/detail/constrained_sampler.cpp → ...erface/src/detail/constrained_sampler.cpp
diff --git a/...etail/constrained_valid_state_sampler.cpp → ...etail/constrained_valid_state_sampler.cpp b/...etail/constrained_valid_state_sampler.cpp → ...etail/constrained_valid_state_sampler.cpp
diff --git a/.../ompl_interface/src/detail/goal_union.cpp → .../ompl_interface/src/detail/goal_union.cpp b/.../ompl_interface/src/detail/goal_union.cpp → .../ompl_interface/src/detail/goal_union.cpp
diff --git a/...mpl_interface/src/detail/ompl_console.cpp → ...mpl_interface/src/detail/ompl_console.cpp b/...mpl_interface/src/detail/ompl_console.cpp → ...mpl_interface/src/detail/ompl_console.cpp
diff --git a/...face/src/detail/projection_evaluators.cpp → ...face/src/detail/projection_evaluators.cpp b/...face/src/detail/projection_evaluators.cpp → ...face/src/detail/projection_evaluators.cpp
diff --git a/...ace/src/detail/state_validity_checker.cpp → ...ace/src/detail/state_validity_checker.cpp b/...ace/src/detail/state_validity_checker.cpp → ...ace/src/detail/state_validity_checker.cpp
diff --git a/...e/src/detail/threadsafe_state_storage.cpp → ...e/src/detail/threadsafe_state_storage.cpp b/...e/src/detail/threadsafe_state_storage.cpp → ...e/src/detail/threadsafe_state_storage.cpp
diff --git a/...face/src/model_based_planning_context.cpp → ...face/src/model_based_planning_context.cpp b/...face/src/model_based_planning_context.cpp → ...face/src/model_based_planning_context.cpp
diff --git a/...ore/ompl_interface/src/ompl_interface.cpp → ompl/ompl_interface/src/ompl_interface.cpp b/...ore/ompl_interface/src/ompl_interface.cpp → ompl/ompl_interface/src/ompl_interface.cpp
diff --git a/..._interface_ros/src/ompl_interface_ros.cpp → ...ompl_interface/src/ompl_interface_ros.cpp b/..._interface_ros/src/ompl_interface_ros.cpp → ...ompl_interface/src/ompl_interface_ros.cpp
@@ -34,16 +34,16 @@
 
 /* Author: Ioan Sucan, Sachin Chitta */
 
-#include <moveit/ompl_interface_ros/ompl_interface_ros.h>
+#include <moveit/ompl_interface/ompl_interface_ros.h>
 
-ompl_interface_ros::OMPLInterfaceROS::OMPLInterfaceROS(const robot_model::RobotModelConstPtr &kmodel) :
+ompl_interface::OMPLInterfaceROS::OMPLInterfaceROS(const robot_model::RobotModelConstPtr &kmodel) :
   ompl_interface::OMPLInterface(kmodel),
   nh_("~")
 {
   loadParams();
 }
 
-bool ompl_interface_ros::OMPLInterfaceROS::saveConstraintApproximations()
+bool ompl_interface::OMPLInterfaceROS::saveConstraintApproximations()
 {
   std::string cpath;
   if (nh_.getParam("constraint_approximations", cpath))
@@ -55,7 +55,7 @@ bool ompl_interface_ros::OMPLInterfaceROS::saveConstraintApproximations()
   return false;
 }
 
-bool ompl_interface_ros::OMPLInterfaceROS::loadConstraintApproximations()
+bool ompl_interface::OMPLInterfaceROS::loadConstraintApproximations()
 {
   std::string cpath;
   if (nh_.getParam("constraint_approximations_path", cpath))
@@ -66,20 +66,20 @@ bool ompl_interface_ros::OMPLInterfaceROS::loadConstraintApproximations()
   return false;
 }
 
-void ompl_interface_ros::OMPLInterfaceROS::loadConstraintSamplers()
+void ompl_interface::OMPLInterfaceROS::loadConstraintSamplers()
 {
   constraint_sampler_manager_loader_.reset(new constraint_sampler_manager_loader::ConstraintSamplerManagerLoader(constraint_sampler_manager_));
 }
 
-void ompl_interface_ros::OMPLInterfaceROS::loadParams()
+void ompl_interface::OMPLInterfaceROS::loadParams()
 { 
   ROS_INFO("Initializing OMPL interface using ROS parameters");
   loadPlannerConfigurations();
   loadConstraintApproximations();
   loadConstraintSamplers();
 }
 
-void ompl_interface_ros::OMPLInterfaceROS::loadPlannerConfigurations()
+void ompl_interface::OMPLInterfaceROS::loadPlannerConfigurations()
 {
   const std::vector<std::string> &group_names = kmodel_->getJointModelGroupNames();  
   std::vector<ompl_interface::PlanningConfigurationSettings> pconfig;
@@ -193,7 +193,7 @@ void ompl_interface_ros::OMPLInterfaceROS::loadPlannerConfigurations()
   setPlanningConfigurations(pconfig);
 }
 
-void ompl_interface_ros::OMPLInterfaceROS::printStatus()
+void ompl_interface::OMPLInterfaceROS::printStatus()
 {
   ROS_INFO("OMPL ROS interface is running.");
 }
diff --git a/...s/ompl_interface_ros/src/ompl_planner.cpp → ompl/ompl_interface/src/ompl_planner.cpp b/...s/ompl_interface_ros/src/ompl_planner.cpp → ompl/ompl_interface/src/ompl_planner.cpp
@@ -34,7 +34,7 @@
 
 /* Author: Ioan Sucan, Sachin Chitta */
 
-#include <moveit/ompl_interface_ros/ompl_interface_ros.h>
+#include <moveit/ompl_interface/ompl_interface_ros.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_state/conversions.h>
 #include <tf/transform_listener.h>
@@ -133,7 +133,7 @@ class OMPLPlannerService
 
   ros::NodeHandle                               nh_;
   planning_scene_monitor::PlanningSceneMonitor &psm_;  
-  ompl_interface_ros::OMPLInterfaceROS          ompl_interface_;
+  ompl_interface::OMPLInterfaceROS              ompl_interface_;
   ros::ServiceServer                            plan_service_;
   ros::ServiceServer                            benchmark_service_;  
   ros::ServiceServer                            construct_ca_service_;  

diff --git a/...os/ompl_interface_ros/src/ompl_plugin.cpp → ompl/ompl_interface/src/ompl_plugin.cpp b/...os/ompl_interface_ros/src/ompl_plugin.cpp → ompl/ompl_interface/src/ompl_plugin.cpp
@@ -32,25 +32,25 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
-#include <moveit/ompl_interface_ros/ompl_interface_ros.h>
+#include <moveit/ompl_interface/ompl_interface_ros.h>
 #include <moveit/planning_interface/planning_interface.h>
 #include <moveit/planning_scene/planning_scene.h>
 #include <boost/shared_ptr.hpp>
 #include <class_loader/class_loader.h>
 
 #include <dynamic_reconfigure/server.h>
-#include "moveit_ompl_planners_ros_plugin/OMPLDynamicReconfigureConfig.h"
+#include "moveit_ompl_planners/OMPLDynamicReconfigureConfig.h"
 
-namespace ompl_interface_ros
+namespace ompl_interface
 {
-using namespace moveit_ompl_planners_ros_plugin;
+using namespace moveit_ompl_planners;
 
 class OMPLPlanner : public planning_interface::Planner
 {
 public:
 
   OMPLPlanner() : planning_interface::Planner(),
-                      nh_("~")
+                  nh_("~")
   {
     dynamic_reconfigure_server_.reset(new dynamic_reconfigure::Server<OMPLDynamicReconfigureConfig>(ros::NodeHandle("~/ompl")));
     dynamic_reconfigure_server_->setCallback(boost::bind(&OMPLPlanner::dynamicReconfigureCallback, this, _1, _2));
@@ -166,6 +166,6 @@ class OMPLPlanner : public planning_interface::Planner
   std::string planner_data_link_name_;
 };
 
-} // ompl_interface_ros
+} // ompl_interface
 
-CLASS_LOADER_REGISTER_CLASS(ompl_interface_ros::OMPLPlanner, planning_interface::Planner);
+CLASS_LOADER_REGISTER_CLASS(ompl_interface::OMPLPlanner, planning_interface::Planner);
diff --git a/...n/joint_space/joint_model_state_space.cpp → ...n/joint_space/joint_model_state_space.cpp b/...n/joint_space/joint_model_state_space.cpp → ...n/joint_space/joint_model_state_space.cpp
diff --git a/...space/joint_model_state_space_factory.cpp → ...space/joint_model_state_space_factory.cpp b/...space/joint_model_state_space_factory.cpp → ...space/joint_model_state_space_factory.cpp
diff --git a/...ization/model_based_joint_state_space.cpp → ...ization/model_based_joint_state_space.cpp b/...ization/model_based_joint_state_space.cpp → ...ization/model_based_joint_state_space.cpp
diff --git a/...ameterization/model_based_state_space.cpp → ...ameterization/model_based_state_space.cpp b/...ameterization/model_based_state_space.cpp → ...ameterization/model_based_state_space.cpp
diff --git a/...ation/model_based_state_space_factory.cpp → ...ation/model_based_state_space_factory.cpp b/...ation/model_based_state_space_factory.cpp → ...ation/model_based_state_space_factory.cpp
diff --git a/...ion/work_space/pose_model_state_space.cpp → ...ion/work_space/pose_model_state_space.cpp b/...ion/work_space/pose_model_state_space.cpp → ...ion/work_space/pose_model_state_space.cpp
diff --git a/..._space/pose_model_state_space_factory.cpp → ..._space/pose_model_state_space_factory.cpp b/..._space/pose_model_state_space_factory.cpp → ..._space/pose_model_state_space_factory.cpp
diff --git a/...nterface/src/planning_context_manager.cpp → ...nterface/src/planning_context_manager.cpp b/...nterface/src/planning_context_manager.cpp → ...nterface/src/planning_context_manager.cpp
diff --git a/.../ompl_interface/test/test_state_space.cpp → .../ompl_interface/test/test_state_space.cpp b/.../ompl_interface/test/test_state_space.cpp → .../ompl_interface/test/test_state_space.cpp
diff --git a/ompl/ompl_interface_plugin_description.xml b/ompl/ompl_interface_plugin_description.xml
@@ -0,0 +1,6 @@
+<library path="libmoveit_ompl_planner_plugin">
+  <class name="ompl_interface/OMPLPlanner" type="ompl_interface::OMPLPlanner" base_class_type="planning_interface::Planner">
+    <description>
+    </description>
+  </class>
+</library>
diff --git a/ompl/ros/package.xml → ompl/package.xml b/ompl/ros/package.xml → ompl/package.xml
@@ -1,7 +1,7 @@
 <package>
-  <name>moveit_ompl_planners_ros_plugin</name>
+  <name>moveit_ompl_planners</name>
   <version>0.3.7</version>
-  <description>MoveIt plugin for the OMPL interface</description>
+  <description>MoveIt interface to OMPL</description>
   <author email="isucan@willowgarage.com">Ioan Sucan</author>
   <maintainer email="isucan@willowgarage.com">Ioan Sucan</maintainer>
 
@@ -14,14 +14,17 @@
   <buildtool_depend>catkin</buildtool_depend> 
 
   <build_depend>moveit_core</build_depend>
+  <build_depend>ompl</build_depend>
+  <build_depend>eigen_conversions</build_depend>
   <build_depend>moveit_ros_planning</build_depend>
-  <build_depend>moveit_ompl_planners_core</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>pluginlib</build_depend>
 
+
   <run_depend>moveit_core</run_depend>
+  <run_depend>ompl</run_depend>
   <run_depend>moveit_ros_planning</run_depend>
   <run_depend>moveit_ompl_planners_core</run_depend>
   <run_depend>dynamic_reconfigure</run_depend>
@@ -30,7 +33,7 @@
   <run_depend>pluginlib</run_depend>
 
   <export>
-    <moveit_core plugin="${prefix}/ompl_interface_ros_plugin_description.xml"/>
+    <moveit_core plugin="${prefix}/ompl_interface_plugin_description.xml"/>
   </export>
 
 </package>
diff --git a/ompl/ros/.gitignore b/ompl/ros/.gitignore
diff --git a/ompl/ros/CMakeLists.txt b/ompl/ros/CMakeLists.txt
diff --git a/ompl/ros/ompl_interface_ros/CMakeLists.txt b/ompl/ros/ompl_interface_ros/CMakeLists.txt
diff --git a/ompl/ros/ompl_interface_ros/src/ompl_interface_ros/__init__.py b/ompl/ros/ompl_interface_ros/src/ompl_interface_ros/__init__.py