ARNL/MOGS Navigation and Localization Software

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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.

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.)

Two localization techniques are available, implemented in separate libraries:

  • Laser Localization -- ARNL -- uses a laser rangefinder and map to perform precise localization. Use this for indoor navigation if your robot was purchased with the laser navigation package with a laser rangefinder sensor.
  • GPS Localization -- MOGS -- uses a GPS receiver to determine a position the robot within a map. Use this for outdoor navigation if your robot was purchased with the GPS navigation package with a GPS receiver.

Prior to version 1.9.3, SONARNL, a localization method using sonar sensors was also available. See the archives to download older versions, and the archives for the corresponding older version of BaseArnl.

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


Contents

Download

Note: You must install BaseArnl (arnl-base, containing navigation and misc. utilities) and then one or more of the ARNL (for accurate indoor laser localization and docking), MOGS (GPS outdoor positioning).


Ubuntu 16.04 (xenial), 64-bit (amd64) architecture

Image:Download_icon_bw.png Base ARNL Library 1.9.3 - Ubuntu 16.04 (xenial) or later, amd 64-bit architecture (arnl-base_1.9.3+ubuntu16_amd64.deb)

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

Image:Download_icon_bw.png ARNL Laser Localization Library 1.9.3 - Ubuntu 16.04 (xenial) or later, amd 64-bit architecture (libarnl_1.9.3+ubuntu16_amd64.deb)

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

Image:Download_icon_bw.png MOGS GPS Localization Library 1.9.3 - Ubuntu 16.04 (xenial) or later, amd 64-bit architecture (libmogs_1.9.3+ubuntu16_amd64.deb)

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


Python Interface

Image:Download_icon_bw.png Base ARNL Python Wrapper 1.9.3 - Ubuntu 16.04 (xenial) or later, amd 64-bit architecture (arnl-base-python_1.9.3+ubuntu16_amd64.deb)

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

Image:Download_icon_bw.png ARNL Python Wrapper 1.9.3 - Ubuntu 16.04 (xenial) or later, amd 64-bit architecture (libarnl-python_1.9.3+ubuntu16_amd64.deb)

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

Image:Download_icon_bw.png MOGS Python Wrapper 1.9.3 - Ubuntu 16.04 (xenial) or later, amd 64-bit architecture (libmogs-python_1.9.3+ubuntu16_amd64.deb)

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

Java Interface

Image:Download_icon_bw.png Base ARNL Java Wrapper 1.9.3 - Ubuntu 16.04 (xenial) or later, amd 64-bit architecture (arnl-base-java_1.9.3+ubuntu16_amd64.deb)

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

Image:Download_icon_bw.png ARNL Java Wrapper 1.9.3 - Ubuntu 16.04 (xenial) or later, amd 64-bit architecture (libarnl-java_1.9.3+ubuntu16_amd64.deb)

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

Image:Download_icon_bw.png MOGS Java Wrapper 1.9.3 - Ubuntu 16.04 (xenial) or later, amd 64-bit architecture (libmogs-java_1.9.3+ubuntu16_amd64.deb)

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



Ubuntu 16.04 (xenial), 32-bit (i386) architecture

Image:Download_icon_bw.png Base ARNL Library 1.9.3 - Ubuntu 16.04 (xenial) or later, 32-bit i386 architecture (arnl-base_1.9.3+ubuntu16_i386.deb)

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

Image:Download_icon_bw.png ARNL Laser Localization Library 1.9.3 - Ubuntu 16.04 (xenial) or later, 32-bit i386 architecture (libarnl_1.9.3+ubuntu16_i386.deb)

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

Image:Download_icon_bw.png MOGS GPS Localization Library 1.9.3 - Ubuntu 16.04 (xenial) or later, 32-bit i386 architecture (libmogs_1.9.3+ubuntu16_i386.deb)

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


Python Interface

Java Interface

Ubuntu 12.04 (precise), 32-bit (i386) architecture

These packages may be used on any version of Ubuntu, 12.04 (precise) or later (32-bit/i386 architecture).

Image:Download_icon_bw.png Base ARNL Library 1.9.3 - Ubuntu 12.04.2 (precise) or later, 32-bit i386 architecture (arnl-base_1.9.3+ubuntu12_i386.deb)

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

Image:Download_icon_bw.png ARNL Laser Localization Library 1.9.3 - Ubuntu 12.04.2 (precise) or later, 32-bit i386 architecture (libarnl_1.9.3+ubuntu12_i386.deb)

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

Image:Download_icon_bw.png MOGS GPS Localization Library 1.9.3 - Ubuntu 12.04.2 (precise) or later, 32-bit i386 architecture (libmogs_1.9.3+ubuntu12_i386.deb)

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

Python Interface

Image:Download_icon_bw.png Base ARNL Python Wrapper 1.9.3 - Ubuntu 12.04.2 (precise) or later, 32-bit i386 architecture (arnl-base-python_1.9.3+ubuntu12_i386.deb)

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

Image:Download_icon_bw.png ARNL Python Wrapper 1.9.3 - Ubuntu 12.04.2 (precise) or later, 32-bit i386 architecture (libarnl-python_1.9.3+ubuntu12_i386.deb)

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

Image:Download_icon_bw.png MOGS Python Wrapper 1.9.3 - Ubuntu 12.04.2 (precise) or later, 32-bit i386 architecture (libmogs-python_1.9.3+ubuntu12_i386.deb)

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

Java Interface

Image:Download_icon_bw.png Base ARNL Java Wrapper 1.9.3 - Ubuntu 12.04.2 (precise) or later, 32-bit i386 architecture (arnl-base-java_1.9.3+ubuntu12_i386.deb)

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

Image:Download_icon_bw.png ARNL Java Wrapper 1.9.3 - Ubuntu 12.04.2 (precise) or later, 32-bit i386 architecture (libarnl-java_1.9.3+ubuntu12_i386.deb)

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

Image:Download_icon_bw.png MOGS Java Wrapper 1.9.3 - Ubuntu 12.04.2 (precise) or later, 32-bit i386 architecture (libmogs-java_1.9.3+ubuntu12_i386.deb)

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





Windows 32-bit

Image:Download_icon_bw.png Base ARNL Library 1.9.3 - Windows (BaseArnl-1.9.3.exe)

  • Run installer program as administrator account to install

Image:Download_icon_bw.png ARNL Laser Localization Library 1.9.3 - Windows (ARNL-1.9.3.exe)

  • Run installer program as administrator account to install

Image:Download_icon_bw.png MOGS GPS Localization Library 1.9.3 - Windows (MOGS-1.9.3.exe)

  • Run installer program as administrator account to install


Windows 64-bit

Image:Download_icon_bw.png Base ARNL Library 1.9.3 - Windows 64-bit (BaseArnl-1.9.3-x64.exe)

  • Run installer program as administrator account to install

Image:Download_icon_bw.png ARNL Laser Localization Library 1.9.3 - Windows 64-bit (ARNL-1.9.3-x64.exe)

  • Run installer program as administrator account to install

Image:Download_icon_bw.png MOGS GPS Localization Library 1.9.3 - Windows 64-bit (MOGS-1.9.3-x64.exe)

  • Run installer program as administrator account to install


Documentation

Previous Versions

Notes: before version 1.7.0, only ARNL and SONARNL packages were released. Starting with 1.9.0, separate Java and Python packages are provided as well. SONARNL was discontinued after 1.9.2.

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 (BaseArnl includes appropriate versions of ARIA and ArNetworking), ARIA may also be used for its examples, documentation, 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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