ARNL provides a native C++ API, as well as Python and Java APIs through an interface layer. The ARNL package includes the shared library/DLL, header files, API reference manual, and example programs with source code.
Note, you must purchase the Complete Laser Mapping and Navigation package to have access to these files. For information contact sales@mobilerobots.com.
| Platform | Download |
|---|---|
| RedHat Linux | ARNL-1.5.1-0.i386.rpm |
| Windows | ARNL-1.5.1.exe |
| Debian Linux ("unstable"/sid only) | libarnl_1.5.1_i386.deb |
| Generic Linux TAR Archive | ARNL-1.5.1.tgz |
| Change Log |
| ARNL User's Manual |
Archived versions available here
To work with ARNL you will also need to download the Mapper3 application so that you can make maps for ARNL to navigate and localize in. Mapper3 will take laser scan log files (.2d) (generated by sickLogger in the bin directory of ARNL) and transform them into maps (.map files) for use with ARNL and then let you edit them, including placing goals and forbidden lines and moving the robots home position.
| Platform | Download |
|---|---|
| RedHat Linux | Mapper3-1.3.10-0.i386.rpm |
| Windows | Mapper3-1.3.10.exe |
Archived versions available here
You will also want to download the MobileEyes application so that you can have a GUI to watch what the robot is doing. MobileEyes connects to servers run from an ARNL program across a network, letting you view the robot's movements and environment without slowing them down.
| Platform | Download |
|---|---|
| RedHat Linux | MobileEyes-1.4.14-0.i386.rpm |
| Windows | MobileEyes-1.4.14.exe |
While it is not required, you may also download the ARIA foundation toolkit for documentation, many examples, and source code.
While it is not required, it is recommended that you also download MobileSim so that you can use the simulator for developing, debugging, and simulating your code.