1. Teleoperating the mobile base with the keyboard

   How to move ARI using the key_teleop package.

2. Moving the base through velocity commands

   This tutorial shows how to move the base by sending velocity commands to the appropriate topic.

3. Joint Trajectory Controller

   Example of how to move ARI's arm using a joint trajectory action.

4. Moving individual joints

   Different ways to move individual joints of ARI are explained.

5. Head control

   Example on how to move ARI's head using an action that makes the robot look to a given direction.

6. Playing pre-defined upper body motions

   Tutorial on how to play back pre-defined upper body motions with ARI using the play_motion package.

Create a new tutorial: