# Move\_base with Magni?

**URL:** <https://forum.ubiquityrobotics.com/t/move-base-with-magni/889>\
**Category:** Uncategorized\
**Created:** [September 21, 2021, 12:16pm UTC](https://forum.ubiquityrobotics.com/t/move-base-with-magni/889 "2021-09-21T12:16:41Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![tiho\_bg](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/t/ea666f/32.png) [@tiho\_bg](https://forum.ubiquityrobotics.com/u/tiho_bg)\
**Post date:** [September 21, 2021, 12:16pm UTC](https://forum.ubiquityrobotics.com/t/move-base-with-magni/889/1 "2021-09-21T12:16:42Z")

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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!

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**Author:** ![MoffKalast](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/moffkalast/32/214_2.png) [@MoffKalast](https://forum.ubiquityrobotics.com/u/MoffKalast)\
**Post date:** [September 21, 2021, 5:47pm UTC](https://forum.ubiquityrobotics.com/t/move-base-with-magni/889/2 "2021-09-21T17:47:21Z")

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I think you may be looking for this: [navigation/Tutorials/RobotSetup - ROS Wiki](http://wiki.ros.org/navigation/Tutorials/RobotSetup)

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.

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<div class="post-metadata">

**Author:** ![tiho\_bg](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/t/ea666f/32.png) [@tiho\_bg](https://forum.ubiquityrobotics.com/u/tiho_bg)\
**Post date:** [September 23, 2021, 11:45am UTC](https://forum.ubiquityrobotics.com/t/move-base-with-magni/889/3 "2021-09-23T11:45:16Z")

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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!

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<div class="post-metadata">

**Author:** ![MoffKalast](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/moffkalast/32/214_2.png) [@MoffKalast](https://forum.ubiquityrobotics.com/u/MoffKalast)\
**Post date:** [September 23, 2021, 2:06pm UTC](https://forum.ubiquityrobotics.com/t/move-base-with-magni/889/4 "2021-09-23T14:06:41Z")

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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`

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<div class="post-metadata">

**Author:** ![tiho\_bg](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/t/ea666f/32.png) [@tiho\_bg](https://forum.ubiquityrobotics.com/u/tiho_bg)\
**Post date:** [September 23, 2021, 2:32pm UTC](https://forum.ubiquityrobotics.com/t/move-base-with-magni/889/5 "2021-09-23T14:32:45Z")

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Hi,

Thank you for your answer

 ![l1](https://frm.ubiquityrobotics.com/uploads/default/original/1X/b9c8d479c14dda74c14811d908de26d03c43fee8.png)

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!