## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(ompl_ros)>>

This package contains a ROS interface to [[ompl]]. Since the '''ompl''' planning library itself does not contain collision checking or robot modeling code (it has abstract implementations of these), we need a layer on top of this, that uses the [[planning_environment]] package to provide an implementation for the abstract interfaces '''ompl''' needs satisfied.

More documentation on the content of this library is available [[http://www.ros.org/doc/api/ompl_ros/html/index.html|here]].

== ROS API ==

 * The ROS API is UNREVIEWED and UNSTABLE
 * The C++ API is UNREVIEWED and UNSTABLE

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