OMPL is a open source library for sampling based / randomized motion planning algorithms. Sampling based algorithms are probabilistically complete: a solution would be eventually found if one exists, however non-existence of a solution cannot be reported. These algorithms are efficient and usually find a solution quickly. OMPL does not contain any code related to collision checking or visualization as the designers of OMPL did not want to tie it to a any particular collision checker or visualization front end. The library is designed so it can be easily integrated into systems that provide the additional components. MoveIt! integrates directly with OMPL and uses the motion planners from OMPL as its default set of planners. The planners in OMPL are abstract; i.e. OMPL has no concept of a robot. Instead, MoveIt! configures OMPL and provides the back-end for OMPL to work with problems in Robotics.