ompl

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https://github.com/ompl/omplapp
OMPL 库安装指南
http://blog.csdn.net/july0404/article/details/51153172
ompl-open motion planning library-基础理论
https://zhenshenglee.github.io/2016/09/03/160903-ompl1/
https://zhenshenglee.github.io/2016/10/05/161005-ompl2-%E4%BD%BF%E7%94%A8omplapp/#morehttp://www.leiphone.com/news/201612/nxlXgriSLasNgAcX.html

cmake -DCMAKE_INSTALL_PREFIX=/opt/ros/indigo ../..

关于ompl的安装要注意路径问题，如果先安装的moveit源码包，则在~/baxter_ws/src/moveit/moveit_planners/ompl目录下安装源码

首先要检查删除apt的ompl

sudo apt-get -qq remove ros-indigo-ompl

cd ~/baxter_ws/src/moveit/moveit_plannersgit clone https://github.com/ompl/ompl.gitcd ompl

wget https://raw.githubusercontent.com/ros-gbp/ompl-release/debian/kinetic/xenial/ompl/package.xml

http://wiki.ros.org/ompl_ros_interface/Tutorials
http://wiki.ros.org/ompl_ros_interface/Tutorials/Configuring%20a%20joint%20space%20planner
http://wiki.ros.org/ompl_ros_interface/Tutorials/Launching%20a%20joint%20space%20planner

sudo apt-get install ros-indigo-moveit-planners-ompl

ompl和MoveIt

http://picknik.io/moveit_wiki/index.php?title=OMPL/Add_New_Planner

安装ompl

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

sudo apt-get updatesudo apt-get install ros-`rosversion -d`-ompl

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