Omron Pioneer LX User Manual page 12

Table of Contents
ARIA
ARIA is the core development library or SDK for use with the robot. It is an open source C++ library (with
interfaces also available for Python, Java and Matlab).
ARIA is available with all robots.
/usr/local/Aria C:\Program
On Linux ARIA can be found at , and on Windows at
Files\MobileRobots\Aria
and in the Start Menu. ARIA includes full API reference documentation in its
doc subdirectory, as well as example programs in the examples directory, and full source code
distributed as free software under the terms of the GNU General Public License. ARIA libraries can be
compiled and used with standard C++ development tools: GNU C++ compiler (G++) on Linux and
Microsoft Visual C++ on Windows.
ARIA also provides the ArNetworking interface for communication between remote clients such as
MobileEyes, or other remote software.
ARIA updates and additional information are available for download at
http://support.mobilerobots.com/wiki/ARIA.
ARNL Laser Navigation and Localization Libraries
ARNL is a development library or SDK for including accurate indoor laser localization and flexible,
reliable autonomous navigation capabilities in your software.
/usr/local/Arnl
, and on Windows at C:\Program
ARNL can be found installed on Linux at
Files\MobileRobots\ARNL. The ARNL installation includes the localization and navigation libraries,
as well as compatible ARIA libraries. It includes a full API reference manual in the doc subdirectory, as
well as example programs in the examples directory.ARNL
ARNL includes arnlServer, an ArNetworking server program which can be used with MobileEyes or
custom client software to interactively send the robot to autonomously navigate to goal points.
README.txt
Refer to ARNL's , API reference manual, and the guide Getting Started with ARNL Laser
Navigation for more information.
ARNL updates and additional information are available for download at
http://support.mobilerobots.com/wiki/ARNL.
Mapper3
Mapper3 is an application used for converting and editing maps for use with ARNL, MOGS and
MobileSim.
Mapper3 is available for download at http://support.mobilerobots.com/wiki/Mapper3.
MobileSim
MobileSim is an abstract high level simulator. If you run MobileSim first, ARIA will automatically
connect to MobileSim instead of the real robot. This allows software to be tested with the simulator on
any computer before using the real robot, without recompilation or any changes.
MobileSim is available for download at http://support.mobilerobots.com/wiki/MobileSim.
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