LightningROS is a ROS package implementing the Lightning Path Planning Framework.

The code here was developed for ROS Feurte. For later ROS versions, see

This approach uses a path library to store previous experience while allowing generality by also planning from scratch. Please see the paper below for more details:

A Robot Path Planning Framework that Learns from Experience
Dmitry Berenson, Pieter Abbeel, and Ken Goldberg
IEEE International Conference on Robotics and Automation (ICRA), May, 2012.

This package uses OMPL planners ( to implement each component in lightning and can be called the same way as any other OMPL planner.

The code was developed at UC Berkeley by Cameron Lee and Dmitry Berenson under the supervision of Prof. Pieter Abbeel and Prof. Ken Goldberg.

Please see the Wiki for instructions on how to install and use lightning:


  • Faster path planning by using previous experience
  • Swap in your favorite planners as components

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BSD License

Follow Lightning Planning Framework for ROS

Lightning Planning Framework for ROS Web Site

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