Move_base with Magni?

1

Hello

I would like to use move_base package with magni robot. I’ve installed the package. What I can do then to use it? I’ve created a map with my rplidar. I would like to use a map planner with move_base. Could you please send some instructions and tutorials related with move_base package and how to use it with the robot? Thank you!

2

I think you may be looking for this: navigation/Tutorials/RobotSetup - ROS Wiki

You can skip the Base Controller and Odometry Information sections, those are handled by the magni and run at boot via the magni-base service.

You’ll still need to add a laser-> baselink transform to the urdf if you haven’t done it yet, but afterwards you should merely need to create a file that launches the map server and amcl I think.

3

Thank you for your answer. I would like to ask how to find the odometry package, name and type of the magni robot?

I found the following information:

Package name: ubiquity_motor
Type name: motor_node
Name: motor_node

Is it correct or not? Thank you!

4

Kind of, that’s not the whole story. The motor node does indeed read odometry data from the MCB and sends it out, but it also needs the diff_drive_controller to get spawned and handle some parts of it.

If you want to see how it should be launched check magni_bringup/launch/core.launch

5

Hi,

Thank you for your answer

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You can see my launch file. I’ve added the controller_manager pkg as you advised me. I’m not sure what to add as parameter name and value. I see that this line was added as parameters in the core.launch file:

    <rosparam command="load" file="$(find magni_bringup)/param/base.yaml" />

I’m not sure if I need this line too.

Do I need these lines in ubiquity_motor pkg:

    <remap from="/ubiquity_velocity_controller/cmd_vel" to="/cmd_vel"/>
    <remap from="/ubiquity_velocity_controller/odom" to="/odom"/>

I need also information where to find the name type and pkg transform_configuration

Could you please help? Thank you!