ARNL, SONARNL and MOGS

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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. The libraries run and coordinates these two tasks, with the localization task automatically correcting robot pose, and the navigation task driving the robot to a goal you specify either in your control program via the programming interface, or from a remote control client such as MobileEyes via the ArNetworking protocol.

The libraries provide a native C++ API, as well as Python and Java APIs through a wrapper interface layers. The packages include the shared libraries/DLLs, header files, API reference manuals, and example programs with source code.

Three seperate localization techniques are available, implemented in three separate libraries:

  • Laser Localization -- ARNL -- uses a laser rangefinder and map to perform precise localization
  • Sonar Localization -- SONARNL -- uses the built in sonar sensors for approximate localization
  • GPS Localization -- MOGS -- uses a GPS receiver to position the robot within a map

Laser and GPS localization are only available to customers who have purchased the laser mapping and navigation or outdoor navigation options. SONARNL sonar localization is available to all customers.

In addition to the localization libraries, the BaseArnl library contains the navigation component, base utilities used by the localization libraries, and ARIA and ArNetworking are used by these libraries as well (the BaseArnl installation package includes the ARIA and ArNetworking libraries required.)


Contents

Download

Important note for users upgrading from ARNL 1.5 and prior: to upgrade, you must first uninstall the currently installed ARNL or SONARNL, then install BaseArnl in addition to either ARNL or SONARNL. Also, guiServer has been renamed to arnlServer and guiServerSonar has been renamed to sonarnlServer.


Ubuntu 12.04 LTS (precise) or later

May be used on Ubuntu 12 or later.

Built for 32-bit (i386) architecture with GCC 4.6:

Image:Download_icon_bw.png Base ARNL Library 1.9.0 - Ubuntu 12.04.2 (precise) or later, 32-bit i386 architecture (arnl-base_1.9.0+ubuntu12+gcc4.6_i386.deb)

  • Open file to install with Ubuntu Software Center, or use dpkg -i

Image:Download_icon_bw.png ARNL Laser Localization Library 1.9.0 - Ubuntu 12.04.2 (precise) or later, 32-bit i386 architecture (libarnl_1.9.0+ubuntu12+gcc4.6_i386.deb)

  • Open file to install with Ubuntu Software Center, or use dpkg -i

Image:Download_icon_bw.png SONARNL Sonar Localization Library 1.9.0 - Ubuntu 12.04.2 (precise) or later, 32-bit i386 architecture (libsonarnl_1.9.0+ubuntu12+gcc4.6_i386.deb)

  • Open file to install with Ubuntu Software Center, or use dpkg -i

Image:Download_icon_bw.png MOGS GPS Localization Library 1.9.0 - Ubuntu 12.04.2 (precise) or later, 32-bit i386 architecture (libmogs_1.9.0+ubuntu12+gcc4.6_i386.deb)

  • Open file to install with Ubuntu Software Center, or use dpkg -i


Built for 64-bit (amd64) architecture with GCC 4.6:

Image:Download_icon_bw.png Base ARNL Library 1.9.0 - Ubuntu 12.04.2 (precise) or later, amd 64-bit architecture (arnl-base_1.9.0+ubuntu12+gcc4.6_amd64.deb)

  • Open file to install with Ubuntu Software Center or use dpkg -i

Image:Download_icon_bw.png ARNL Laser Localization Library 1.9.0 - Ubuntu 12.04.2 (precise) or later, amd 64-bit architecture (libarnl_1.9.0+ubuntu12+gcc4.6_amd64.deb)

  • Open file to install with Ubuntu Software Center or use dpkg -i

Image:Download_icon_bw.png SONARNL Sonar Localization Library 1.9.0 - Ubuntu 12.04.2 (precise) or later, amd 64-bit architecture (libsonarnl_1.9.0+ubuntu12+gcc4.6_amd64.deb)

  • Open file to install with Ubuntu Software Center or use dpkg -i

Image:Download_icon_bw.png MOGS GPS Localization Library 1.9.0 - Ubuntu 12.04.2 (precise) or later, amd 64-bit architecture (libmogs_1.9.0+ubuntu12+gcc4.6_amd64.deb)

  • Open file to install with Ubuntu Software Center or use dpkg -i


Debian Linux 5.0

Built for 32-bit Debian 5.0 (lenny) or later with GCC 4.3:

Image:Download_icon_bw.png Base ARNL Library 1.9.0 - Debian 5 (lenny), 32-bit architecture (arnl-base_1.9.0+debian5+gcc4.3_i386.deb)

  • Install with dpkg -i

Image:Download_icon_bw.png ARNL Laser Localization Library 1.9.0 - Debian 5 (lenny), 32-bit architecture (libarnl_1.9.0+debian5+gcc4.3_i386.deb)

  • Install with dpkg -i

Image:Download_icon_bw.png SONARNL Sonar Localization Library 1.9.0 - Debian 5 (lenny), 32-bit architecture (libsonarnl_1.9.0+debian5+gcc4.3_i386.deb)

  • Install with dpkg -i

Image:Download_icon_bw.png MOGS GPS Localization Library 1.9.0 - Debian 5 (lenny), 32-bit architecture (libmogs_1.9.0+debian5+gcc4.3_i386.deb)

  • Install with dpkg -i


Windows

Image:Download_icon_bw.png Base ARNL Library 1.9.0 - Windows (BaseArnl-1.9.0.exe)

  • Run installer program as administrator account to install

Image:Download_icon_bw.png ARNL Laser Localization Library 1.9.0-1 - Windows (ARNL-1.9.0-1.exe)

  • Run installer program as administrator account to install

Image:Download_icon_bw.png SONARNL Sonar Localization Library 1.9.0 - Windows (SONARNL-1.9.0.exe)

  • Run installer program as administrator account to install

Image:Download_icon_bw.png MOGS GPS Localization Library 1.9.0 - Windows (MOGS-1.9.0.exe)

  • Run installer program as administrator account to install


Windows 64-bit

Image:Download_icon_bw.png Base ARNL Library 1.9.0 - Windows 64-bit (BaseArnl-1.9.0-x64.exe)

  • Run installer program as administrator account to install

Image:Download_icon_bw.png ARNL Laser Localization Library 1.9.0-1 - Windows 64-bit (ARNL-1.9.0-1-x64.exe)

  • Run installer program as administrator account to install

Image:Download_icon_bw.png SONARNL Sonar Localization Library 1.9.0 - Windows 64-bit (SONARNL-1.9.0-x64.exe)

  • Run installer program as administrator account to install

Image:Download_icon_bw.png MOGS GPS Localization Library 1.9.0 - Windows 64-bit (MOGS-1.9.0-x64.exe)

  • Run installer program as administrator account to install

Generic Linux TAR Archive

Built for use with GCC 4.6 on a 32-bit system:

Image:Download_icon_bw.png Base ARNL Library 1.9.0 - Other 32-bit Linux systems (Generic compressed TAR archive) with GCC 4.6 (BaseArnl-1.9.0+gcc4.6.tgz)

  • Unpack and follow installation instructions inside

Image:Download_icon_bw.png ARNL Laser Localization Library 1.9.0 - Other 32-bit Linux systems (Generic compressed TAR archive) with GCC 4.6 (ARNL-1.9.0+gcc4.6.tgz)

  • Unpack and follow installation instructions inside

Image:Download_icon_bw.png SONARNL Sonar Localization Library 1.9.0 - Other 32-bit Linux systems (Generic compressed TAR archive) with GCC 4.6 (SONARNL-1.9.0+gcc4.6.tgz)

  • Unpack and follow installation instructions inside

Image:Download_icon_bw.png MOGS GPS Localization Library 1.9.0 - Other 32-bit Linux systems (Generic compressed TAR archive) with GCC 4.6 (MOGS-1.9.0+gcc4.6.tgz)

  • Unpack and follow installation instructions inside


Built for use with GCC 4.6 on a 64-bit system:

Image:Download_icon_bw.png Base ARNL Library 1.9.0 - Other 64-bit Linux systems (Generic compressed TAR archive) with GCC 4.6 (BaseArnl-1.9.0+x86_64+gcc4.6.tgz)

  • Unpack and follow installation instructions inside

Image:Download_icon_bw.png ARNL Laser Localization Library 1.9.0 - Other 64-bit Linux systems (Generic compressed TAR archive) with GCC 4.6 (ARNL-1.9.0+x86_64+gcc4.6.tgz)

  • Unpack and follow installation instructions inside

Image:Download_icon_bw.png SONARNL Sonar Localization Library 1.9.0 - Other 64-bit Linux systems (Generic compressed TAR archive) with GCC 4.6 (SONARNL-1.9.0+x86_64+gcc4.6.tgz)

  • Unpack and follow installation instructions inside

Image:Download_icon_bw.png MOGS GPS Localization Library 1.9.0 - Other 64-bit Linux systems (Generic compressed TAR archive) with GCC 4.6 (MOGS-1.9.0+x86_64+gcc4.6.tgz)

  • Unpack and follow installation instructions inside


Documentation

Previous Versions

Note, before version 1.7.0, only ARNL and SONARNL packages were released.

Image:Folder_icon_bw.pngArchived versions of ARNL

Image:Folder_icon_bw.pngArchived versions of SONARNL

Image:Folder_icon_bw.pngArchived versions of BaseArnl

Image:Folder_icon_bw.pngArchived versions of MOGS

Recommended Additional Downloads

Mapper3 or Mapper3Basic
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 arnlServer or sickLogger) 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. Mapper3Basic can also be used to edit maps, but cannot process laser scans. It is, however, available to all customers.
MobileEyes
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.
ARIA
While not required (ARNL is self contained), ARIA may also be used for its examples and source code
MobileSim
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.
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