ARan Base

ARan_base.png

ROS Software Maintainer: PAL Robotics

ARan is the mobile base designed for you. Obtain 3D environment perception and richer data collection with the robot’s wide 245º Field of View (FoV) LiDAR and two RGB-D cameras. Unleash high performance computing and AI research using ARan’s NVIDIA Jetson GPU add-on. Move payloads of up to 150kg with excellent balance in indoor environments, including with harsh conditions and wet grounds, thanks to the built-in insulation and improved suspension system. Enjoy the easy-to-use visual programming and advanced navigation suite to collaborate with people and deploy the robot right away.

If you wish to know more or request a quote, please send us a message or refer to the product page

Tutorials

A comprehensive set of tutorials are now available for the TIAGo Base robot in Robots/ARan-base/Tutorials. The tutorials make use of the Gazebo simulator and currently contain tutorials on autonomous navigation. Comprehensive instructions on how to install the public simulator are provided.

Public simulation packages overview

This section presents an overview of the packages used in the public simulation of ARan Base, with links to the corresponding wiki pages describing the packages. For the installation instructions of the packages please refer to ARan Base simulation installation tutorial.

Control the robot

ARan Base supports a logitech joystick by default.

logitech-joystick.png

Controllers from other vendors may have different key mappings. In this case the joy_teleop.yaml file needs to be changed to reflect the different configuration.

If you had one plugged in when you started up the (real or simulated) robot, now it can be used. Activate the joystick commands by pressing the 'X' button, and drive using the controllers. This activation behaviour comes in very handy when the robot is navigating autonomously but a rapid interruption is needed.

One can also use the rqt_robot_steering plugin to drive the robot by sending commands directly to /mobile_base_controller/cmd_vel

Library Overview

Basic Configuration

Component

ROS package/stack

Robot model (URDF)

pmb3_description

Robot controller configuration

pmb3_controller_configuration

Robot bringup files

pmb3_bringup

Hardware Drivers and Simulation

Component

ROS package/stack

Simulation-specifig controller config

pmb3_controller_configuration_gazebo

Gazebo setup

pmb3_gazebo

Navigation stack

pmb3_navigation

High-Level Capabilities

Component

ROS package/stack

Control over the source of movement commands

twist_mux

Joystick teleoperation interface

joy_teleop

PAL Robotics GitHub organization

Wiki: Robots/ARan-base (last edited 2023-01-27 12:58:02 by thomaspeyrucain)