AshishRamesh/Project-ARIA — reverse-engineered prompt

Build me a ROS based autonomous robot project called ARIA for indoor navigation. I want it to feel like a real system for places like warehouses, hospitals, and other workspaces. The robot should be able to use lidar to map an area, show the map and live sensor data in a simple GUI, and then autonomously move to a waypoint that I click. It should support both a simulation version and a physical robot version, with the physical setup using a Raspberry Pi, an Arduino Nano, motor control, wheel encoders, and a camera if useful.

Please wire up the core navigation flow so it can do mapping, localization, obstacle aware path planning, and basic motion control. Include the communication between the Pi, sensors, and controller so the robot can actually drive around and stay stable. I also want the project cleaned up so it is easy to run, demo, and understand, with clear setup steps, launch commands, and notes for hardware connections. If anything is missing, look up current docs online and fill in the gaps sensibly.