  With the spread of robots in unstructured, dynamic environments, the topic of
path replanning has gained importance in the robotics community. Although the
number of replanning strategies has significantly increased, there is a lack of
agreed-upon libraries and tools, making the use, development, and benchmarking
of new algorithms arduous. This paper introduces OpenMORE, a new open-source
ROS-based C++ library for sampling-based path replanning algorithms. The
library builds a framework that allows for continuous replanning and collision
checking of the traversed path during the execution of the robot trajectory.
Users can solve replanning tasks exploiting the already available algorithms
and can easily integrate new ones, leveraging the library to manage the entire
execution.
