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Hi there, are you doing motion planning for a vehicle or something that moves in 2D? You don't need OMPL to achieve so, the ROS navigation stack does that for you with more time optimized algorithms. A great example of that is the Turtlebot who navigates in a known environment (it can also be an unknown environment so no worries.)

You can check how it works in this youtube video: https://youtu.be/PJH2oMeSjFQ