Overview

This is a ROS/MoveIt! extension for redundancy resolution (RR) with dynamic programming (DP). For more information, please refer to the public GitHub repository.

Download

• To download and run the software, please refer to the public GitHub repository.

Prerequisites

• Ubuntu 20.04
• ROS Noetic

Changelog

• Please refer to the public GitHub repository for the software history.

References, more information, and resources

• Ferrentino, E.; Salvioli, F.; Chiacchio, P. Globally Optimal Redundancy Resolution with Dynamic Programming for Robot Planning: A ROS Implementation. Robotics 2021, 10, 42, DOI: 10.3390/robotics10010042.
• YouTube video: https://youtu.be/AxL755_t3_o?.