Select your operating system:


Download the OMPL installation script. First, make the script executable:
chmod u+x
Next, there are three ways to run this script:
  • ./ will install OMPL without Python bindings
  • ./ --python will install OMPL with Python bindings
  • ./ --app will install with Python bindings
The script downloads and installs OMPL and all dependencies via apt-get & pip and from source. It will ask for your password to install things. The script has been tested on vanilla installs of Ubuntu 14.04 (Trusty), 15.10 (Wily), 16.04 (Xenial), and 17.10 (Artful).
Simply type:
apt-get install libompl-dev ompl-demos
Note that this package does not include or Python bindings.
Debian packages for OMPL are also found in ROS distributions. Note that these packages do not include or Python bindings. To install the ROS version of OMPL you need to add the ROS repository to your list of sources (you have probably have done this already if you are using ROS):
sudo sh -c 'echo "deb `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget -O - | sudo apt-key add -
and install OMPL:
sudo apt-get update
sudo apt-get install ros-`rosversion -d`-ompl
Please see MoveIt! for further information.


Simply type:
sudo yum install ompl
Note that this package does not include or Python bindings.

Linux (generic)

OMPL requires Boost (version 1.54 or higher), CMake (version 2.8.7 or higher), and Eigen (version 3.3 or higher). Some additional features are available if ODE is installed. requires in addition Assimp, Open GL libraries and header files, libccd (version 2.0.0 or higher), and FCL (version 0.4.0 or higher). To be able to generate python bindings you need to install the Python library and header files and Py++. The GUI requires PyQt5 (including its OpenGL bindings) and PyOpenGL. Finally, you need a C++11 compiler (g++-5 or newer).

Once the dependencies are installed, can then be compiled like so:

  • Create a build directory and run cmake:
    cd omplapp
    mkdir -p build/Release
    cd build/Release
    cmake ../..
  • Optionally, generate the Python bindings with make -j 4 update_bindings.
  • Compile by typing make -j 4.
  • Optionally, run the test programs by typing make test.
  • Optionally, generate the documentation (i.e., a local copy of this web site) by typing make doc (requires Doxygen and Graphviz to be installed).

The build system includes a number of options that you can enable or disable.


Install MacPorts and type:
sudo port sync \; install ompl +app
(Omit the +app part if you do not need
Install Homebrew and type:
brew install ompl
Note that the Homebrew formula does not include or Python bindings.

MS Windows

Installation on Windows is possible, but not supported at this time. Our configuration files for compiling or OMPL using AppVeyor's Windows Continuous Integration servers might serve as a useful starting point.