【机器人学：运动规划】OMPL开源运动规划库的安装和demo

开源运动规划库（OMPL）是美国莱斯大学的kavrakilab开发的，包含了当下主流的运动规划器。对于机器人方向的同学来说，无论是做移动机器人还是机械臂，这是必须要学习的工具。

在ubuntu14.04环境下，安装OMPL是比较简单的。

1. 首先进入OMPL的官网http://ompl.kavrakilab.org/
   
2. 点击Getting Started下的install OMPL，进入下边的页面
   
   点击“Download the OMPL installation script”，会下载一个名为“install-ompl-ubuntu.sh”的文件。
3. 在install-ompl-ubuntu.sh的目录下，执行命令
   chmod u+x install-ompl-ubuntu.sh
   和./install-ompl-ubuntu.sh
   需要注意的是安装OMPL之前需要提前安装g++5.0和CMake 3.4以上，这样在编译的时候就不会报错了。
4. 安装后在安装目录下会出现一个ompl-1.3.1-Source的文件夹。
   
5. 在/ompl-1.3.1-Source/build/Release/bin下有很多生成的demo可执行文件
   
6. 在终端中执行

./demo_Point2DPlanning
    

     
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这是一个质点在二维平面空间中的规划算例，结果为：

gpeng@Robotic-IdeaPad-Y470:~/ompl/ompl-1.3.1-Source/build/Release/bin$ ./demo_Point2DPlanning 
OMPL version: 1.3.1
Info:    No planner specified. Using default.
Info:    LBKPIECE1: Attempting to use default projection.
Debug:   LBKPIECE1: Planner range detected to be 486.395107
Info:    LBKPIECE1: Starting planning with 1 states already in datastructure
Info:    LBKPIECE1: Created 1043 (615 start + 428 goal) states in 277 cells (184 start (127 on boundary) + 93 goal (65 on boundary)) Info: Solution found in 0.055480 seconds Info: LBKPIECE1: Starting planning with 1 states already in datastructure Info: LBKPIECE1: Created 520 (401 start + 119 goal) states in 153 cells (130 start (92 on boundary) + 23 goal (20 on boundary)) Info: Solution found in 0.033183 seconds Info: LBKPIECE1: Starting planning with 1 states already in datastructure Info: LBKPIECE1: Created 594 (461 start + 133 goal) states in 160 cells (127 start (86 on boundary) + 33 goal (27 on boundary)) Info: Solution found in 0.039627 seconds Info: LBKPIECE1: Starting planning with 1 states already in datastructure Info: LBKPIECE1: Created 609 (470 start + 139 goal) states in 215 cells (170 start (110 on boundary) + 45 goal (40 on boundary)) Info: Solution found in 0.023786 seconds Info: LBKPIECE1: Starting planning with 1 states already in datastructure Info: LBKPIECE1: Created 608 (509 start + 99 goal) states in 232 cells (210 start (163 on boundary) + 22 goal (19 on boundary)) Info: Solution found in 0.024900 seconds Info: LBKPIECE1: Starting planning with 1 states already in datastructure Info: LBKPIECE1: Created 269 (163 start + 106 goal) states in 121 cells (86 start (81 on boundary) + 35 goal (31 on boundary)) Info: Solution found in 0.008904 seconds Info: LBKPIECE1: Starting planning with 1 states already in datastructure Info: LBKPIECE1: Created 333 (199 start + 134 goal) states in 202 cells (108 start (98 on boundary) + 94 goal (86 on boundary)) Info: Solution found in 0.006044 seconds Info: LBKPIECE1: Starting planning with 1 states already in datastructure Info: LBKPIECE1: Created 250 (137 start + 113 goal) states in 135 cells (85 start (78 on boundary) + 50 goal (43 on boundary)) Info: Solution found in 0.011098 seconds Info: LBKPIECE1: Starting planning with 1 states already in datastructure Info: LBKPIECE1: Created 521 (345 start + 176 goal) states in 202 cells (187 start (160 on boundary) + 15 goal (13 on boundary)) Info: Solution found in 0.027484 seconds Info: LBKPIECE1: Starting planning with 1 states already in datastructure Info: LBKPIECE1: Created 376 (281 start + 95 goal) states in 143 cells (108 start (92 on boundary) + 35 goal (31 on boundary)) Info: Solution found in 0.021535 seconds Info: Found 10 solutions Info: SimpleSetup: Path simplification took 0.001149 seconds and changed from 21 to 49 states 
    

     
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