# How do I move the Magni on rviz?

**URL:** <https://forum.ubiquityrobotics.com/t/how-do-i-move-the-magni-on-rviz/77>\
**Category:** General Questions\
**Created:** [July 25, 2018, 12:06am UTC](https://forum.ubiquityrobotics.com/t/how-do-i-move-the-magni-on-rviz/77 "2018-07-25T00:06:51Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\
**Post date:** [July 25, 2018, 12:06am UTC](https://forum.ubiquityrobotics.com/t/how-do-i-move-the-magni-on-rviz/77/1 "2018-07-25T00:06:51Z")

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Now we are trying the muliti-fiducials location and mapping, and we can see the fiducials on rviz.  
Now we want to know how to move Magni on rviz or others ways.

Thanks.

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**Author:** ![srinuk](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/s/958977/32.png) [@srinuk](https://forum.ubiquityrobotics.com/u/srinuk)\
**Post date:** [July 25, 2018, 11:32pm UTC](https://forum.ubiquityrobotics.com/t/how-do-i-move-the-magni-on-rviz/77/2 "2018-07-25T23:32:05Z")

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Hi Rohan,

Thanks for taking my call.

As I called you yesterday We need some documentation which helps in moving the robot in multi fiducial slam .

With the instructions in the site

> **[Fiducial-Based Localization](http://learn.ubiquityrobotics.com/fiducials)**
>
> Tutorials for Magni

we are able to see the fidicuals in rviz and image.

We would like to have some basic document as well as sample code if possible to move the robot in multi fiducial scenario

Meanwhile we are trying to reverse engineer [http://learn.ubiquityrobotics.com/waypoints​](http://learn.ubiquityrobotics.com/waypoints%E2%80%8B)

and through chrome browser we get access\_Denied to robot

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**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\
**Post date:** [July 25, 2018, 11:37pm UTC](https://forum.ubiquityrobotics.com/t/how-do-i-move-the-magni-on-rviz/77/3 "2018-07-25T23:37:04Z")

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First run our basic navigation system, move\_basic.

On the Raspberry Pi, in addition to fiducials  
`roslaunch magni_nav move_basic.launch`

Then in RViz make sure that your fixed frame is `/map` and then use 2D Nav Goal in RViz to point and click where you want the robot to go. Do small movements at first until you start to get the feel of how the movement works.

Rohan

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**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\
**Post date:** [July 26, 2018, 6:32pm UTC](https://forum.ubiquityrobotics.com/t/how-do-i-move-the-magni-on-rviz/77/4 "2018-07-26T18:32:19Z")

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Hi Rohan,  
Thanks for your help.  
We try to roslaunch magni\_nav move\_basic.launch and use 2D Nav Goal in RViz, but robot can not move.

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**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\
**Post date:** [July 26, 2018, 9:41pm UTC](https://forum.ubiquityrobotics.com/t/how-do-i-move-the-magni-on-rviz/77/5 "2018-07-26T21:41:41Z")

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What is the fixed frame in rviz?

On the side bar it should be under Global options

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**Author:** ![cfengli](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/b5ac83/32.png) [@cfengli](https://forum.ubiquityrobotics.com/u/cfengli)\
**Post date:** [July 26, 2018, 10:15pm UTC](https://forum.ubiquityrobotics.com/t/how-do-i-move-the-magni-on-rviz/77/6 "2018-07-26T22:15:36Z")

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Hi Robin,  
The fixed frame in rviz is map

 ![15326433093171846728050](https://frm.ubiquityrobotics.com/uploads/default/original/1X/0d9529018c0e1f41098024f718da2b0b70b9ad47.jpg)