In this post I'll cover how to setup OMPL with a custom optimization objective that reaches out to the ROS stack for its cost function.
moveit
Installing OMPL/MoveIt! for custom motion planning
Through a lot of hacking, installing, reinstalling, and much head-banging, I finally figured out an installation process that leads to (what seems to be) a fully functional development environment for OMPL and MoveIt!.
