使用 Homebrew 安装 ompl

项目链接

• 主页
• 仓库

命令和别名

• ompl_benchmark_statistics.py

项目历史

OMPL's official license carries Rice University copyright beginning in 2010, and the project's public GitHub repository dates to May 2014. Releases on GitHub extend from at least the 1.3 series in 2017 through the 2.0 series in 2026.

采用历史

The official site says OMPL is the default planning library in MoveIt and documents use with mobile manipulators, car-like systems, drones, underwater vehicles, and NASA's Robonaut2. It also highlights a Delft team that used an OMPL-and-MoveIt pipeline to win the 2016 Amazon Picking Challenge. The supplied package metadata records Homebrew, Debian, Ubuntu, and MacPorts distribution.

使用方式

Researchers and robotics developers embed OMPL's C++ APIs or Python bindings, define state spaces and planning problems, select or let OMPL select a planner, and use its benchmarking facilities to compare algorithms. The project provides a primer, tutorials, demos, API documentation, and integration guidance.

为什么软件包爱好者会关心

OMPL packages a broad planner catalog behind abstract state-space and problem interfaces instead of binding itself to one robot framework. Its availability in general-purpose operating-system package managers, plus its role inside MoveIt, makes it a foundational library package rather than a standalone end-user application.

时间线

• 2010: Earliest year in the official Rice University copyright notice.
• 2014-05: Official GitHub repository created.
• 2016: Delft team won the Amazon Picking Challenge using OMPL through a MoveIt-based pipeline.
• 2017-10: OMPL 1.3.1 published in GitHub releases.
• 2026-04: OMPL 2.0.0 published.
• 2026-06: OMPL 2.0.1 published.

Related projects

• The official site positions MoveIt as the recommended path for ROS users and documents integrations with VAMP and Pinocchio. Planner Arena is the companion surface for interactively exploring benchmark results.

来源

• https://api.github.com/repos/ompl/ompl — official GitHub repository metadata and creation date.
• https://api.github.com/repos/ompl/ompl/releases?per_page=100 — official GitHub release history.
• https://ompl.kavrakilab.org/ — official project overview, planner scope, integrations, adoption examples, and current release.
• https://ompl.kavrakilab.org/license.html — official copyright and license history.
• input source_facts.package-manager — supplied Homebrew, Debian, Ubuntu, and MacPorts package records.