Fiducial Navigation, how to build map?

So I am going through the fiducial navigation documentation and I am not so sure I understand how does the map building process goes.
I would first start with an empty map, and then drive the magni through the points, yeah?

On that point, I just want to make sure, i would drive the magni using the keyboard?

Yes that’s what you’d do. The first fiducial it sees sets the origin point (the origin should be the height of baseline regardless of the height of the fiducial).

Yes drive with a keyboard.

Make sure you have a well calibrated camera otherwise the performance tends to be poor.

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Thank you for the reply!! I have finished building my map, I will try to make it navigate with just using the move basic