= ARI =

{{attachment:ari.jpg||align="right",width="300"}}

''ROS Software Maintainer: [[http://pal-robotics.com|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 [[http://pal-robotics.com/en/company|send us a message]] or [[http://pal-robotics.com/robots/ari/|refer to the product microsite]] 


<<TOC(3)>>


== Tutorials ==
A comprehensive set of tutorials are now available for the ARI robot in '''[[Robots/ARI/Tutorials]]'''. The tutorials make use of the [[http://gazebosim.org|Gazebo]] simulator and currently contain tutorials on how to use [[http://opencv.org|OpenCV]], autonomous navigation, [[http://moveit.ros.org|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 [[http://wiki.ros.org/Robots/ARI/Tutorials/Installation|ARI simulation installation tutorial]].

=== Robot model ===
||'''Component''' ||
Robot model (URDF) [[https://github.com/pal-robotics/ari_robot/tree/melodic-devel/ari_description|ari_description]]

===  Simulation files ===
||Robot bringup files [[https://github.com/pal-robotics/ari_simulation/tree/master/ari_bringup|ari_bringup]]||
||Robot Gazebo models, worlds and launch scripts [[https://github.com/pal-robotics/ari_simulation/tree/master/ari_gazebo|ari_gazebo]]||

||Robot controller configuration for Gazebo [[https://github.com/pal-robotics/ari_simulation/tree/master/ari_controller_configuration_gazebo|ari_controller_configuration_gazebo]]||

=== Public navigation ===
||'''Component''' ||
||Navigation config and launch files [[https://github.com/pal-robotics/ari_simulation/tree/melodic-devel/ari_2dnav_gazebo|ari_2dnav_gazebo]]||
||Navigation meta-package [[https://github.com/pal-robotics/ari_navigation|ari_navigation]]||
||Mapping and localization state machine ||[[https://github.com/pal-robotics/pal_navigation_sm|pal_navigation_sm]] ||


=== Hardware Drivers for simulation ===
||'''Component''' ||
|| Hardware drivers ||[[pal_hardware_gazebo]] ||

=== Messages ===
||'''Component''' ||
|| PAL specific messages ||[[pal_msgs]] ||

=== Controllers ===
||'''Component''' ||
|| ros_control overlay ||[[ros_control]] ||
|| ros_controllers overlay ||[[ros_controllers]] ||
|| gazebo_ros_control overlay ||[[gazebo_ros_control]] ||

=== High-Level Capabilities ===
||'''Component''' ||
|| Play back of pre-defined motions ||[[play_motion]] ||
||Point head action ||[[head_action]] ||
MoveIt! package [[https://github.com/pal-robotics/ari_moveit_config|ari_moveit_config]]
||ArUco markers detection ||[[aruco_ros]] ||

== Related Repositories ==
[[https://github.com/pal-robotics|PAL Robotics GitHub organization]]