Task and Motion Planning Library (TAMPL)

⚠ Warning: This library is still under development.

An all-in-one library for prototyping, benchmarking, and integrating task and motion planning algorithms into real-world systems, all powered by behavior trees.

Building Instructions

Prerequisites

Before building TAMPL from source, ensure that the necessary dependencies are installed.

For Linux (Ubuntu/Debian)

$ sudo apt install -y libboost-all-dev libeigen3-dev libzmq3-dev libsqlite3-dev

For macOS (using Homebrew)

$ brew install boost eigen zeromq sqlite

TAMPL also uses CPM.cmake to manage additional dependenices such as BehaviorTree.CPP, OMPL, and more. These dependencies can be found in dependencies.cmake.

Now, run the following commands from the repository's top-level directory to build TAMPL from source. The first build may take some time as all necessary dependencies will be downloaded and compiled.

$ mkdir build && cd build
$ cmake ..
$ make -j$(nproc)

Running Examples

All the examples demonstrating TAMPL's capabilities can be found in the examples.