OMPL (Open Motion Planning Library)¶

State-of-the-art sampling-based motion planning.

OMPL (Open Motion Planning Library) is the industry standard for generic motion planning algorithms. Kompass integrates OMPL to solve complex planning problems in 2D and 3D spaces for various robot morphologies.

Kompass provides efficient Nanobind bindings in the kompass_core package, bridging your Python components with OMPL’s C++ core.

Geometric Planners - Algorithm Suite. Direct access to over 20 geometric planners (RRT*, PRM, EST, etc.) configurable in your recipe or via a configuration file (YAML, TOML, JSON).
SE2 State Space 2D Navigation. It provides an ‘SE2State’ consisting of a 2D position and rotation in the plane: SE(2): (x, y, yaw)
Validity Checker - Collision Checking. Built-in ‘StateValidityChecker’ which implements a collision checker (using FCL) to insure finding collision free paths.

Configuration¶

Configure OMPL behavior via your configuration file.

ompl:
    # Verbosity
    log_level: 'WARN'

    # Timeouts
    planning_timeout: 10.0      # (s) Max time to search for a solution
    simplification_timeout: 0.01 # (s) Max time to optimize the path

    # Constraints
    goal_tolerance: 0.01        # (m) Goal reached threshold

    # Optimization
    optimization_objective: 'PathLengthOptimizationObjective'

    # Active Algorithm
    planner_id: 'ompl.geometric.KPIECE1'

Planner Benchmarks¶

Planning performance simulated on a Turtlebot3 Waffle in Gazebo.

Repetitions: 20 per planner
Timeout: 2.0 seconds
Metric: Average values

Tip

To run this benchmark yourself, refer to the kompass_navigation tests.

Method	Solved	Time (s)	Length (m)	Simplify (s)	ROS 2 Pub (s)
ABITstar	✅	1.071	2.948	0.0075	0.00056
BFMT	✅	0.1128	3.487	0.0066	0.00017
BITstar	✅	1.0732	2.962	0.0061	0.00015
BKPIECE1	✅	0.0703	4.469	0.0178	0.00019
BiEST	✅	0.0619	4.418	0.0108	0.00014
EST	✅	0.0640	4.059	0.0107	0.00013
FMT	✅	0.1330	3.628	0.0063	0.00016
InformedRRT*	✅	1.0679	2.962	0.0046	0.00013
KPIECE1	✅	0.0676	5.439	0.0148	0.00017
LBKPIECE1	✅	0.0754	5.174	0.0200	0.00017
LBTRRT	✅	1.0696	3.221	0.0050	0.00012
LazyLBTRRT	✅	1.0672	3.305	0.0053	0.00013
LazyPRM	❌	1.0811	0.0	0.0	0.0
LazyPRMstar	✅	1.0701	3.030	0.0063	0.00012
LazyRRT	✅	0.0982	4.520	0.0160	0.00013
PDST	✅	0.0678	3.836	0.0090	0.00013
PRM	✅	1.0672	3.306	0.0068	0.00012
PRMstar	✅	1.0740	3.720	0.0085	0.00012
ProjEST	✅	0.0683	4.190	0.0082	0.00013
RRT	✅	0.0906	4.860	0.0190	0.00014
RRTConnect	✅	0.0754	4.780	0.0140	0.00014
RRTXstatic	✅	1.0712	3.030	0.0041	0.00012
RRTsharp	✅	1.0680	3.010	0.0052	0.00013
RRTstar	✅	1.0672	2.960	0.0042	0.00013
SBL	✅	0.0800	4.039	0.0121	0.00015
SST	✅	1.0681	2.630	0.0012	0.00018
STRIDE	✅	0.0679	4.120	0.0098	0.00015
TRRT	✅	0.0798	4.110	0.0109	0.00015

Supported Planners & Parameters¶

Click on a planner to view its default configuration parameters.