The Pioneer LX Software Development Kit (SDK) consists of several useful tools. The most relevant tools are ARIA, ARNL, Mapper3 and MobileEyes. Some are free, ARIA is open source, and some must be purchased. They are available at the Mobile Robots website:
The following libraries are currently no longer supported by MobileRobots since they have shut down. The software is available in the Box folder. We are working on proting the system to full ROS:
- ARIA → AriaCoda and ROSARIA
- ARNL → The ROS navigation stack
- MobileEyes and Mapper3 → ROS-RQT and rviz
ARIA
Advanced Robot Interface for Applications (ARIA) is an Open Source C++ library for all MobileRobots/ActivMedia platforms. ARIA can dynamically control your robot's velocity, heading, relative heading, and other motion parameters either through simple low-level commands or through its high-level Actions infrastructure. ARIA also receives position estimates, sonar readings, and all other current operating data sent by the robot platform. ARIA can be used with Python, Java and Matlab. A ROS interface, ROSARIA, is available for ARIA. This is the key software for accessing the robot base’s internal peripherals.
...
ARNL is a set of software packages built on top of ARIA for intelligent navigation and localization. "Localization" allows the program to keep track of where the robot is and "navigation" allows the robot to get to a given destination. Utilizing the laser rangefinder it can be used to navigate and position the robot in a known map, and includes path-finding. A ROS interface is also available: ros-arnl. ARNL may in the future be replaced by the ROS navigation stack.
sickLogger
sickLogger is a program included with ARNL. It will log the data from the laser range finder, and store it as a .2d file.
...