Ubuntu 下 OMPL 的安装与使用

OMPL 库的简介：

OMPL（The Open Motion Planning Library） 运动规划库。可以实现以PRM（Probabilistic Roadmap Method ） 和 RRT为基础的各种基于概率的规划算法。如PRM系列（Lazy PRM/PRM*/LazyPRM* 、SPARS（SPARS2）、RRT系列（RRT/RRT Connect/RRT*等）、EST、KPIECE、STRIDE、PDST、FMT* 、BFMR*等。

官方文档

比较好的介绍：https://blog.csdn.net/wuguangbin1230/article/details/86491929

介绍：https://zhenshenglee.github.io/2016/09/03/160903-ompl1/

OMPL库的安装：

安装指南：https://blog.csdn.net/july0404/article/details/51153172

OMPL的使用例子：

1）无障碍物的3d RRT规划：https://blog.csdn.net/july0404/article/details/51153172

2）有障碍的2D RRT 规划： https://blog.csdn.net/ljq31446/article/details/79714728

3）环境是通过自定义的栅格地图（txt文档）进行 2D RRT规划： https://blog.csdn.net/ljq31446/article/details/79728814

4）环境是通过图片像素点来定义的 2DRRT 规划：https://blog.csdn.net/ljq31446/article/details/79798969

5）2D RRT star 优化规划： https://blog.csdn.net/qcxyliyong/article/details/103380043

6）http://ompl.kavrakilab.org/optimalPlanningTutorial.html

7) https://www.cnblogs.com/shhu1993/p/7062099.html?utm_source=debugrun&utm_medium=referral

https://github.com/ayushgaud/path_planning

https://github.com/yxdfighting/ros_pathplanning/blob/master/zed_ros_pathplanning/src/pathplanning.cpp

https://github.com/tavoregna/ompl_planner

https://github.com/Jaeyoung-Lim/mav_ompl_planning

https://github.com/tony23545/ompl_tutorial

看完这几个例子之后，再对照了解一下OMPL的API框图，可能会有比较深的理解。

常见问题 ：

1）cmake 找不到OMPLConfig.cmake

CMake Error at grid_path_searcher/CMakeLists.txt:13 (find_package):
  By not providing "FindOMPL.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "OMPL", but
  CMake did not find one.

  Could not find a package configuration file provided by "OMPL" with any of
  the following names:

    OMPLConfig.cmake
    ompl-config.cmake

  Add the installation prefix of "OMPL" to CMAKE_PREFIX_PATH or set
  "OMPL_DIR" to a directory containing one of the above files.  If "OMPL"
  provides a separate development package or SDK, be sure it has been
  installed.

解决方法： 

$  sudo apt-get install ros-kinetic-ompl*

参考：https://blog.csdn.net/weixin_39266503/article/details/88648002