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ARI

ari.jpg

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 write to ari-support@pal-robotics.com .

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

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 contains tutorials on how to use OpenCV, 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 ARI simulation installation tutorial.

Robot model

Component

ROS package/stack

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

Gazebo plugins

pal_gazebo_plugins

Hardware Drivers for simulation

Component

ROS package/stack

Hardware drivers

pal_hardware_gazebo

Messages

Component

ROS package/stack

PAL specific messages

pal_msgs

Controllers

Component

ROS package/stack

ros_control overlay

ros_control

ros_controllers overlay

ros_controllers

gazebo_ros_control overlay

gazebo_ros_control

High-Level Capabilities

Component

ROS package/stack

Play back of pre-defined motions

play_motion

Point head action

head_action

MoveIt! package

ari_moveit_config

ArUco markers detection

aruco_ros

PAL Robotics GitHub organization


2020-08-08 12:24