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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
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.
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sickLogger is a program included with ARNL. It will log the data from the laser range finder, and store it as a .2d file.
BaseArnl
BaseArnl includes the path planning and navigation component of ARNL, as well as some base classes and utilities used by the localization libraries.
Mapper3
Mapper3 is a software used for generating maps from laser scans, and adding obstacles and defining areas on the map. Mapper3 will take a laser scan log file (a .2d file) from the sickLogger program and create a .map file. It will also remove moving obstacles like peoples feet. It will leave you with a nice continuous outline of the area it maps. You can even modify the map on a robot over a network connection
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