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Thank you for your quick responses.

I am trying to extend the OMPL project: http://www.ros.org/wiki/ompl The problem when accesing the svn repositories for this package is that I cannot find the source code I am looking for. I have been browsing through the SVNs repos of this project, and I could not find my self in the code.

So, the best choice is to go directly to the main site of the project: http://ompl.kavrakilab.org/ There you can get it itself, with IDE and all... So, I will try this one. Then, if I success, I will try to export to ROS.

Once again, thank you. Your posts have been very helpfull to get a global picture of ROS.