開源運動規劃庫（OMPL）是美國萊斯大學的kavrakilab開發的，包含了當下主流的運動規劃器。對於機器人方向的同學來說，無論是做移動機器人還是機械臂，這是必須要學習的工具。

在ubuntu14.04環境下，安裝OMPL是比較簡單的。

1. 首先進入OMPL的官網http://ompl.kavrakilab.org/
   
2. 點選Getting Started下的install OMPL，進入下邊的頁面
   
   點選“Download the OMPL installation script”，會下載一個名為“install-ompl-ubuntu.sh”的檔案。
3. 在install-ompl-ubuntu.sh的目錄下，執行命令
   chmod u+x install-ompl-ubuntu.sh
   
   和./install-ompl-ubuntu.sh
   需要注意的是安裝OMPL之前需要提前安裝g++5.0和CMake 3.4以上，這樣在編譯的時候就不會報錯了。
4. 安裝後在安裝目錄下會出現一個ompl-1.3.1-Source的資料夾。
   
5. 在/ompl-1.3.1-Source/build/Release/bin下有很多生成的demo可執行檔案
   
6. 在終端中執行

./demo_Point2DPlanning

這是一個質點在二維平面空間中的規劃算例，結果為：

[email protected]:~/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