Aubameyang was unveiled by Chelsea late on Thursday night after the Blues agreed a £10.3m deal with Barca.
Barcelona only signed Aubameyang in February but were open to cashing in on the 33-year-old after spending almost £200m on new summer signings despite being more than £1bn in debt.
Aubameyang enjoyed four largely successful years at Arsenal, scoring 92 goals in 163 games for the Gunners following a £56m move from Borussia Dortmund in 2018.
But the striker’s Arsenal career began to unravel last season; first he was left out of a matchday squad for ‘disciplinary reasons’ and shortly after he was stripped of the captaincy.
Arteta told Arsenal to sell Aubameyang during the January transfer window and he departed by mutual consent, heading to Barcelona on a free transfer.
Reacting to Aubameyang’s return to the Premier League, Arteta said: ‘I’m sure he’s made that decision because he wants to change again and find the best possible for his future, and we here wish him the best of luck.’
Upon signing for Chelsea, Aubameyang claimed he had ‘unfinished business’ in England and said he was delighted to be reunited with his former Borussia Dortmund manager Thomas Tuchel.
Tuchel addressed Aubameyang’s move on Friday and said he ‘hopes’ he can perform for him as he did in Germany.
‘Hopefully he can be that good again,’ Tuchel said. ‘He was very keen to come back to the Premier League and I’m very happy it could happen.
‘He delivers goals everywhere he goes. It’s a big package he can bring to our group, that’s why we did it.’
Chelsea owner Todd Boehly has also lifted the lid on his move for Aubameyang, telling the club’s official website: ‘Pierre-Emerick is an elite striker with a proven track record in the Premier League and his arrival strengthens our squad, giving us new attacking options.
‘We are thrilled to have Pierre-Emerick on board with us in the new era at Chelsea and we’re really looking forward to working with him.’