Refer to RobotIK.

The RobotComponents package introduces several ready-to-use components which provide access to generic robotics algorithms needed for most robot systems. The components cover inverse kinematics (IK) and path planning methods which are accompanied by gui-plugins for conventient access.

A complete list of components can be found here: All components of the RobotComponents package

Inverse Kinematics

More details can be found here: The RobotIK Component

Path Planning

The AStarPathPlanner class.

More details can be found here: The AStarPathPlanner Component

Gui Plugins

RobotComponents Gui Plugins