Autonomous navigation with ARI#

🏁 Goal of this tutorial

By the end of this tutorial, you will know how to make ARI navigate from point A to B through a Python script.

You can send ARI from one point to another either through a GUI such as rviz or ARI’s Web User Interface, or via a programming interface.



Before continuing with the instructions of this section make sure that the robot computer is able to resolve the development computer hostname. Set the right ROS_MASTER_URI and ROS_IP environment variables in the development computer.

Also, do not forget to undock your robot before running the code. Otherwiswe the robot will not move.

There are four ways to make your robot navigate in a map:

  1. Using a graphical interface, like rviz

  2. Using absolute metric coordinates: the robot will navigate to an absolute coordinate in the map.

  3. Using POI (point of interest): the robot will navigate to a predefinied POI in the map.

  4. Using waypoints: the robot will follow a pre-fixed sequence of points of interest.

Let’s have a look at the three options.