To use the demo:

1. Click repeatedly on Set Obstacles until you're satisfied with the configuration. You can also change the number of obstacles.

2. Click repeatedly on Set Start and Set Goal until you're satisfied with the positions. 

3. Use the Step Size and Max Iterations sliders to change those parameters, if needed.

4. Select the path planner with the drop-down menu, if needed, and click on Compute Path.

The path is in blue and the tree in grey. If RRT-Rope or RRT-connect is selected, the start tree is in green and the goal tree is in red. 

If you're using RRT-Rope, the raw path (before shortening) is in dark blue. If you select Interm. Display, the intermediate shortcuts are shown in yellow.

Enjoy!

The source code is available here.