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Installing ARI Simulation

Description: A brief summary of commands to install the required packages for ARI simulation

Tutorial Level: BEGINNER

Author: Alessandro Di Fava <alessandro.difava@pal-robotics.com>

Maintainer: Victor Lopez < victor.lopez@pal-robotics.com >

Support: ari-support@pal-robotics.com

Source: https://github.com/pal-robotics/ari_tutorials.git


Make sure that all ROS repositories specified in the previous tutorial have been installed.

Linux commands

  Show EOL distros: 

  • Not supported. Currently supported ROS LTS: melodic.

  • Not supported. Currently supported ROS LTS: melodic.

  • Not supported. Currently supported ROS LTS: melodic.

  • Not supported. Currently supported ROS LTS: melodic.

Source-based installation

Currently source-based installation is provided. First of all open a terminal and create an empty workspace:

  • mkdir ~/ari_public_ws
    cd ~/ari_public_ws

Download the file ari_public-melodic.rosinstall. Copy the rosinstall file in ~/ari_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

  • rosinstall src /opt/ros/melodic ari_public-melodic.rosinstall

Set up rosdep

  • sudo rosdep init
    rosdep update

Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed

  • rosdep install --from-paths src --ignore-src --rosdistro melodic --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit_node sensor_to_cloud hokuyo_node libdw-dev python-graphitesend-pip python-statsd pal_filters pal_vo_server pal_usb_utils pal_pcl pal_pcl_points_throttle_and_filter pal_karto pal_local_joint_control camera_calibration_files pal_startup_msgs pal-orbbec-openni2 dummy_actuators_manager pal_local_planner gravity_compensation_controller current_limit_controller dynamic_footprint dynamixel_cpp tf_lookup opencv3 librealsense2-dev librealsense2-dkms hey5_transmissions ydlidar_ros_driver" -y

Then, you may proceed building the workspace:

  • source /opt/ros/melodic/setup.bash
    catkin build -DCATKIN_ENABLE_TESTING=0

Once you compiled all packages and sourced the environment (source devel/setup.bash) it's all ready to go.

Testing the installation

First of all open a console and source the workspace:

  • source ./devel/setup.bash

To launch ARI, execute:

  • roslaunch ari_gazebo ari_gazebo.launch public_sim:=true


If you managed to launch the simulation then the installation has been successful. If you have rendering problems please update your graphics driver.

Wiki: Robots/ARI/Tutorials/Installation/ARISimulation (last edited 2023-02-14 17:24:32 by SaiKishor)