ROS/MoveIt! extension for redundancy resolution with dynamic programming

This repository is a collection of ROS packages needed to perform globally-optimal redundancy resolution for kinematically redundant robotic systems. More information on the algorithm, designed modules and underlying methodology can be found at

Ferrentino, E.; Salvioli, F.; Chiacchio, P. Globally Optimal Redundancy Resolution with Dynamic Programming for Robot Planning: A ROS Implementation. Robotics 2021, 10, 42. https://doi.org/10.3390/robotics10010042

The moveit_dp_redundancy_resolution and moveit_dp_redundancy_resolution_msgs packages contain the core libraries, while all the fourr_kazerounian_* and panda_* packages are support packages to run demos on a 4R planar robot and 7R spatial robot respectively.

Refer to the Readmes of the single packages for further information. It is convenient to explore the documentation in the following order:

• moveit_dp_redundancy_resolution
• moveit_dp_redundancy_resolution_msgs
• fourr_kazerounian_moveit_config
• panda_moveit_config
• fourr_kazerounian_controller
• panda_controller
• fourr_kazerounian_description
• panda_ikfast_panda_arm_plugin