Update OMPL to 1.7.0

[Sarvesh-Mishra1981]

Description

This PR updates the OMPL installation script install-ompl-ubuntu.sh to version 1.7.0. It introduces a significant optimization by prioritizing pip wheels over source compilation.

Fixes

Closes #3040

###Changes

• Version Bump: Updated all references and download URLs from 1.6.0 to 1.7.0.
• Pip Optimization: Added logic to attempt pip install ompl==1.7.0 before falling back to source compilation. This leverages the new Python wheels introduced in OMPL 1.7.0.

Testing

I have validated these changes on an Ubuntu 22.04 (ARM64) environment. The testing process confirmed that the script correctly detects the architecture, installs the wheel, and that the library is functionally stable.

2. Version Confirmation
Verified the installed metadata using pip show. The version is correctly registered as 1.7.0.

3. Functional Planning Test
Ran a Python test script using og.SimpleSetup to verify the library's functionality. The planner successfully initialized, checked state validity, and found a path between start and goal .

[javizqh]

The testing must be done by compiling a new RADI and checking that it compiles without a problem and that it has the same functionality as before. We tried before to change the version, but what was blocking us was that it did not install properly inside the RADI

[Sarvesh-Mishra1981]

Ok sure @javizqh i will check by compiling new RADI and update accordingly.
Cheers!

[Sarvesh-Mishra1981]

Hello @javizqh,

I discovered that the main issue blocking the build was the --github flag in Dockerfile.dependencies_humble. This flag was forcing the script to compile OMPL from source every time.

The Solution:
I have resolved this by removing the --github flag . This allows the build to finish successfully and much faster.

Testing:
I have built a new RADI image locally using the updated script and Dockerfile. The installation is successful, and I verified the version inside the container.

Verification Command:

docker run --rm --entrypoint pip jderobot/robotics-academy:ompl-test show ompl```

[javizqh]

Please check that everything works the same inside the exercise. We needed that tag because it did not work without it

[Sarvesh-Mishra1981]

Sure @javizqh.

[Sarvesh-Mishra1981]

Hello @javizqh

I have been working on verifying this inside the exercise, but I have encountered persistent infrastructure issues with the local container setup (specifically database connection and port mapping errors) that have blocked me from running the full simulation. I spent the day debugging these environment errors rather than testing the OMPL build itself.
I will continue attempting to resolve the local setup on my end, but if you are able to test this image on your machine, it would be very helpful to confirm the OMPL functionality.

[javizqh]

I am sorry but I cannot test it now because I'm pretty busy with polishing the new version.
Please check if your problems can be fixed with the help of the developer guide

[Sarvesh-Mishra1981]

Hello @javizqh
I have finally tested the Ompl 1.7 by building RADI, here is the video of the exercise working in custom RADI as well.

Recording.2026-02-04.032343.1.mp4

[javizqh]

The original code already does that better, because it checks the available memory

[javizqh]

There seems to be something wrong.
All your changes are done inside the GitHub if that only gets called when you use the --github in the command, but you have removed that tag from the command.

Please check if you are compiling the RADI with the new versión of ompl and also when testing the exercise.

[Sarvesh-Mishra1981]

hello @javizqh i have fixed that and tested that.

final.1.mp4

[Sarvesh-Mishra1981]

@javizqh I am open for any changes.

[javizqh]

We will review it when we have time

[javizqh]

Also please show which version of ompl you are using in the terminal available inside the exercise. I cannot check it in the video

[Sarvesh-Mishra1981]

@javizqh, here you can see the version in terminal while running the exercise

Recording.2026-02-06.013627.mp4

[javizqh]

Please, try not to spam pinging, it is really annoying to receive pings at 5am or 6am. I already told you yesterday that I will review it when I have time.

We have others projects that have higher priority than this issue and also testing this issue takes around 1 hour

[Sarvesh-Mishra1981]

Sorry about the repeated pings — that wasn’t my intention. I understand you have other higher-priority projects and that reviewing this takes significant time.

Thanks for letting me know, I’ll wait patiently for your review whenever you get the time. Appreciate your effort

[javizqh]

Works fine, but have you tried with the official ompl instructions. It will be better to keep using an official script if possible.

If with the official script does not work we will use this one temporarily

[Sarvesh-Mishra1981]

hello @javizqh

Regarding the official OMPL script, I noticed it explicitly sets clang++ as the compiler:

However, as documented in our existing install scripts, our environment relies on system libraries linked against libstdc++, which causes the build to fail if clang is used:

Therefore, we need to modify the official script to use g++. Hence we cannot directly use official one