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+
+ 
+
+# ARI Robot
+
+**ARI Robot** is a ROS-based software framework developed by PAL Robotics for operating and simulating the ARI social robot. The repository is organized into multiple ROS packages that together provide:
+  
+- **Robot Bringup:** Initialization of hardware interfaces and sensor drivers.  
+- **Controller Configuration:** Setup of controllers (joint, current limit, state, etc.) to enable safe and coordinated motion.  
+- **Robot Description:** Mechanical, kinematic, and visual description (URDF, meshes, collision data) for simulation and visualization.  
+- **Core Integration:** High-level integration for managing the system.
+
+> **Note:** This repository is maintained on the `melodic-devel` branch and is targeted for ROS Melodic.
+
+---
+
+## Table of Contents
+
+- [Repository Structure](#repository-structure)
+- [Prerequisites](#prerequisites)
+- [Installation](#installation)
+- [Usage](#usage)
+- [Development and Contributing](#development-and-contributing)
+- [Changelog](#changelog)
+
+
+---
+
+## Repository Structure
+
+- **ari_bringup**  
+  Contains the launch files and configuration for starting the ARI robot system. Key launch files include:  
+  - `ari.launch` – A high-level launch file (commonly used for simulation or complete system startup).  
+  - `ari_bringup.launch` – Specifically used for bringing up the robot hardware and interfaces.  
+  - Additional launch files such as `joystick_teleop.launch`, `play_motion.launch`, `qr_detector.launch`, `torso_back_camera.launch`, `torso_front_camera.launch`, and `twist_mux.launch`.
+
+- **ari_controller_configuration**  
+  Provides the configuration for the robot’s controllers. The launch directory contains:  
+  - `ari_controllers.launch` – Launches the overall controller configuration.  
+  - `current_limit_controllers.launch` – Configures current limit controllers.  
+  - `default_controllers.launch` – Loads the default set of controllers.  
+  - `joint_state_controller.launch` – Starts the joint state publisher for sensor data.
+
+- **ari_description**  
+  Contains the URDF, meshes, collision models, and simulation files that define ARI’s physical properties.
+
+- **ari_robot**  
+  The core package tying together the bringup, controller configuration, and description components. It contains build configuration files (`CMakeLists.txt`, `package.xml`) and a changelog.
+
+---
+
+## Prerequisites
+
+Before building and running the ARI Robot packages, ensure you have:
+
+- **Ubuntu 16.04 (Xenial)** or a compatible version, as ROS Melodic is supported on this platform.  
+- **ROS Melodic:** Installed from the official ROS repositories.  
+- **Catkin Tools:** For building the workspace (e.g., `catkin_make` or `catkin build`).  
+- All additional ROS dependencies listed in the `package.xml` files of each package.
+
+---
+
+## Installation
+
+1. **Clone the Repository:**
+
+   ```bash
+   cd ~/catkin_ws/src
+   git clone -b melodic-devel https://github.com/pal-robotics/ari_robot.git
+   ```
+
+2. **Install Dependencies:**
+
+   Use `rosdep` to install required dependencies:
+
+   ```bash
+   cd ~/catkin_ws
+   rosdep install --from-paths src --ignore-src -r -y
+   ```
+
+3. **Build the Workspace:**
+
+   ```bash
+   cd ~/catkin_ws
+   catkin_make
+   # or, if you prefer catkin tools:
+   # catkin build
+   ```
+
+4. **Source the Workspace:**
+
+   ```bash
+   source ~/catkin_ws/devel/setup.bash
+   ```
+
+---
+
+## Usage
+
+### Launching the Robot Bringup
+
+To initialize the robot’s hardware interfaces (sensors, drivers, and low-level nodes), run the bringup launch file from the `ari_bringup` package:
+
+```bash
+roslaunch ari_bringup ari_bringup.launch
+```
+
+This file starts all essential nodes for interfacing with ARI’s hardware.
+
+### Launching the Controller Configuration
+
+To configure and start the controllers (for joint motion, safety limits, etc.), use the launch file from the `ari_controller_configuration` package:
+
+```bash
+roslaunch ari_controller_configuration ari_controllers.launch
+```
+
+Other controller-related launch files (like `default_controllers.launch` or `joint_state_controller.launch`) can be used as needed for additional configuration.
+
+### Launching the Simulation
+
+For simulation purposes (e.g., running the robot in Gazebo or RViz), you can launch the complete system using the high-level launch file from the `ari_bringup` package:
+
+```bash
+roslaunch ari_bringup ari.launch
+```
+
+This launch file is designed to work with simulation environments by setting appropriate parameters for visualizing ARI in Gazebo and RViz.
+
+*Tip:* Additional launch files such as `play_motion.launch` (for motion playback) or `joystick_teleop.launch` (for teleoperation) are also available and can be run independently as required.
+
+---
+
+## Development and Contributing
+
+Contributions to enhance functionality, documentation, and performance are welcome. Please adhere to the following guidelines:
+
+- **Coding Standards:** Follow standard ROS, C++, and Python conventions.  
+- **Commit Messages:** Write clear, concise commit messages that describe your changes.  
+- **Issue Reporting:** Report bugs or request features via GitHub Issues.  
+- **Pull Requests:** Ensure your pull requests are well-documented and pass all CI tests.  
+- **Documentation:** Update this README and in-code documentation as needed.
+
+For further details, consider adding a `CONTRIBUTING.md` file to guide new contributors.
+
+---
+
+## Changelog
+
+Each package maintains its own changelog (e.g., `CHANGELOG.rst`). Please refer to these files for a detailed history of changes and updates.
+
+---
+