Move_base with Magni?


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!

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.

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!

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


Thank you for your answer

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!