This script will install an OMPL development environment with all the required dependencies (libccd, OctoMap, FCL, ROS, MoveIt!) that are needed to modify OMPL and use your modification through ROS and MoveIt! See my post for more info: https://jack-kawell.com/2019/06/24/installing-ompl/

ompl-dev-install.sh

# Install misc needed packages
# Check to see if in Docker or normal Linux
echo "Installing basic packages"
if [ -f /.dockerenv ]; then
    echo "Running in Docker: Installing sudo";
    apt update
    apt -y install sudo 
else
    echo "Running in normal Linux: Assuming sudo installed";
    sudo apt update
fi
sudo apt -y upgrade
sudo apt -y install git build-essential cmake
mkdir -p ~/Documents/Software

# Install libccd (https://github.com/danfis/libccd):
echo "Installing libccd"
sudo apt -y install m4
cd ~/Documents/Software
git clone https://github.com/danfis/libccd.git
cd libccd/
mkdir build && cd build/
cmake -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON ..
make -j `nproc`
sudo make install

# Install OctoMap (https://github.com/OctoMap/octomap/wiki/Compilation-and-Installation-of-OctoMap):
echo "Installing OctoMap"
sudo apt -y install doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
cd ~/Documents/Software
git clone https://github.com/OctoMap/octomap.git
cd octomap/
mkdir build && cd build/
cmake ..
make -j `nproc`
make test
sudo make install

# Install FCL (https://github.com/flexible-collision-library/fcl):
echo "Installing FCL"
sudo apt -y install libeigen3-dev
cd ~/Documents/Software
git clone https://github.com/jgkawell/fcl.git
mkdir build && cd build
cmake ..
make -j `nproc`
sudo make install

# Install OMPL (http://ompl.kavrakilab.org/installation.html):
echo "Installing OMPL"
sudo apt-get -y install pkg-config libboost-serialization-dev libboost-filesystem-dev libboost-system-dev libboost-program-options-dev libboost-test-dev libode-dev
export CXX=g++
cd ~/Documents/Software
git clone https://github.com/ompl/ompl.git
cd ompl
mkdir -p build/Release && cd build/Release
cmake ../..
make -j `nproc`
sudo make install

# Install ROS (https://ros.org/install):
echo "Installing ROS"
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt -y install ros-kinetic-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt -y install python-rosinstall python-rosinstall-generator python-wstool

# Install MoveIt! (https://moveit.ros.org/install/source/):
echo "Installing MoveIt!"
cd ~/Documents/Software
rosdep update
sudo apt update
sudo apt dist-upgrade
sudo apt -y install python-catkin-tools clang-format-3.9
mkdir ws_moveit
cd ws_moveit/
source /opt/ros/kinetic/setup.bash 
wstool init src
wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall
wstool update -t src
rosdep -y install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin config --blacklist \
    moveit_chomp_optimizer_adapter \
    moveit_planners_chomp \
    chomp_motion_planner
sudo apt -y install ccache
ccache --max-size=10
echo 'export PATH=/usr/lib/ccache:$PATH' >> $HOME/.bashrc
source $HOME/.bashrc
catkin build

# Remake OMPL to replace the one in MoveIt!:
echo "Remaking OMPL to replace the one in MoveIt!"
cd ~/Documents/Software/ompl
sudo rm -r build/
mkdir -p build/Release
cd build/Release/
cmake -DCMAKE_INSTALL_PREFIX=/opt/ros/kinetic ../..
make -j `nproc`
sudo make install