Laser-based SLAM and path planning on the robot#

The first step of an environment configuration is the creation of a map, that will later be used to localize the robot, for autonomous navigation and to store all the navigation configuration (zones, go to points, etc). This section will detail the steps needed to start/stop mapping, and also describe the best practices to produce a high quality map. We will next go through additional features, such as adding points of interest, zones, and so on.

You can use two different tools to map, localize and navigate with ARI:

  • WebGUI, which provides a more user-friendly interface. It allows the basics to get your robot to start moving around.

  • rviz, which provides additional capabilities not available in the WebGUI that may become handy in more advanced cases.

If you are interested in easily getting the work done, we recommed you to use the WebGUI-based tool.

Otherwise, if you require of additional features and you feel comfortable working with rviz, then continue with the rviz-based option.

Autonomous navigation#

Once the robot has a map and is localized in it, we can send autonomous navigation instructions. Follow the tutorial first-navigation-sample to learn different ways to navigate with ARI by coding python scripts.