Overview

This package contains launch files and configuration files for the Magni robot.

Launch files

magni_demos fiducial_follow.launch

Runs everything for the fiducial follow demo.

magni_demos simple_navigation.launch

Runs a simple fiducial based navigation demo using fiducials and move_basic. The robot is controllable using Robot Commander.

magni_nav aruco.launch

This launch file runs the fiducial marker based localization system using Raspberry Pi camera, configured to run on Magni. For more information, see fiducials and raspicam_node

magni_nav move_basic.launch

This launch file runs the move_basic simple navigation system with the parameters needed for Magni.

magni_viz view_nav.launch

To be run on a workstation, not the pi. This brings up rviz in a way suitable to visualize fiducial based navigation.

magni_viz view_robot.launch

To be run on a workstation, not the pi. This brings up rviz in a way suitable to visualize just the state of the robot and sensors, without a navigation stack.

Internal

magni_bringup core.launch

This brings up the essential nodes for communicating with the motor node. After launch, teleop_twist_keyboard should work.

You should not have to run this launch file directly.

magni_bringup base.launch

Runs everything needed for teleop, including Robot Commander based teleop (no navigation). Runs on robot boot.

magni_description description.launch

Internal launch file for making the URDF load and robot_state_publisher work.

You should not have to run this launch file directly.

Deprecated

magni_demos teleop.launch

Deprecated, now aliased to magni_bringup base.launch

magni_demos joystick.launch

Deprecated, now aliased to magni_bringup base.launch

Software that enables core hardware functionality on Magni:

https://github.com/UbiquityRobotics/ubiquity_motor     - Makes the Motors work; Package; no UI; no documentation

https://github.com/UbiquityRobotics/raspicam_node      - Makes the Cameras work; Package; Calibration UI (documented)--is this exposed to User? 

Motor controller firmware -- not to be released.