首先卸载ros自带的ompl库，因为ros自带的ompl库功能不全：

sudo apt-get --purge remove ros-kinetic-ompl

然后从官网或者github上下载source code

cd 刚下载ompl的source code目录
mkdir -p build/Release
cd build/Release
cmake ../..
sudo make install

然后要是使用ompl的库的包的CMakeLists.txt:

find_package(ompl REQUIRED)

Reference:
https://blog.csdn.net/july0404/article/details/51153172