ROS/MoveIt! extension for redundancy resolution with dynamic programming

First public release of the software comprising the main libraries and support packages for running demos on a 4R planar robot and a 7R spatial robot.

More documentation on the algorithm 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

If you are using this code for your work, please cite the paper above.