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 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

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 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.

1. Robot model

Component	ROS package/stack
Robot model (URDF)	ari_description

2. 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

3. Hardware Drivers for simulation

Component	ROS package/stack
Hardware drivers	pal_hardware_gazebo

4. Messages

Component	ROS package/stack
PAL specific messages	pal_msgs

5. Controllers

Component	ROS package/stack
ros_control overlay	ros_control
ros_controllers overlay	ros_controllers
gazebo_ros_control overlay	gazebo_ros_control

6. 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

Related Repositories

PAL Robotics GitHub organization