ARI
ROS Software Maintainer: PAL Robotics
ARI is a high-performance robotic platform designed for a wide range of multimodal expressive gestures and behaviors, making it the ideal social robot and suitable for Human-Robot-Interaction, perception, cognition, navigation, and interaction. Its behavior can be customized using the provided, easy to use, web interface. You can also dive deeper and integrate it thanks to its extensive ROS API to easily develop, simulate and deploy application on the robot.
For technical questions regarding the public simulation of the robot please email to ari-support@pal-robotics.com
If you would like to find out more or request a quote, please send us a message or refer to the product microsite
Contents
Tutorials
A comprehensive set of tutorials are now available for the ARI robot in Robots/ARI/Tutorials. The tutorials make use of the Gazebo simulator and currently contain tutorials on how to use OpenCV, autonomous navigation, MoveIt! and Human Robot Interaction.
Public simulation packages overview
This section presents an overview of the packages used in the public simulation of ARI, with links to the corresponding wiki pages describing the packages. For the installation instructions of the packages please refer to the ARI simulation installation tutorial.
Robot model
Component |
Robot model (URDF) ari_description
Simulation files
Robot bringup files ari_bringup |
Robot Gazebo models, worlds and launch scripts ari_gazebo |
Robot controller configuration for Gazebo ari_controller_configuration_gazebo |
Public navigation
Component |
|
Navigation config and launch files ari_2dnav_gazebo |
|
Navigation meta-package ari_navigation |
|
Mapping and localization state machine |
Hardware Drivers for simulation
Component |
|
Hardware drivers |
Messages
Component |
|
PAL specific messages |
Controllers
Component |
|
ros_control overlay |
|
ros_controllers overlay |
|
gazebo_ros_control overlay |
High-Level Capabilities
Component |
|
Play back of pre-defined motions |
|
Point head action |
MoveIt! package ari_moveit_config
