Move Base setup for Magni

Hi,

I am trying to get my move base to work for navigating my robot. I am getting my Lidar next week so I cant really test it yet but would like to create my launch files so long. I did use :~$ locate move_base.launch and found a launch file that already exists on my PC with the following in:

launch>

ode pkg=“move_base” type=“move_base” respawn=“false” name=“move_base” output=“screen”>
rosparam file="$(find magni_nav)/param/costmap_common_param.yaml" command=“load” ns=“local_costmap” />
rosparam file="$(find magni_nav)/param/costmap_common_param.yaml" command=“load” ns=“global_costmap” />
rosparam file="$(find magni_nav)/param/local_costmap_param.yaml" command=“load” />
rosparam file="$(find magni_nav)/param/global_costmap_param.yaml" command=“load” />
rosparam file="$(find magni_nav)/param/base_local_planner_param.yaml" command=“load” />

/node>

/launch>

(I Removed the < infront of each line so it shows up on the post)

I can send you what each yaml file contains if you’d like but id just like to know whether this launch file is the correct one to use, whether I should edit it or whether I should try to create a new one.

I have started to try and create my own launch file using the instructions set out on this page http://wiki.ros.org/navigation/Tutorials/RobotSetup. However, I am really confused as to what to put into the parameters of the odometry section.

I know me not having the Lidar yet does make this task more difficult but I’d like to make some progress in the meantime.

You should look at this page to help you get started:

The ODOM is already setup for the motor node, ubiquity_motor repository.
If you are curious, you can look at the config file that has the defines ODOM uses is here:
/opt/ros/kinetic/share/magni_bringup/param/base.yaml