Overview

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

Launch files

magni_description magni_description.launch.py

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

robot_description: all robot static and dynamic transforms. It gets its camera and lidar extrinsics from either ~/.ros/extrinsics/<SENSOR>_extrinsics_<POSITION>.yaml OR magni_description/urdf/extrinsics/<SENSOR>_extrinsics_<POSITION>.yaml with respective priorities. Which extrinsics are taken can be controlled through robot.yaml which sets the <SENSOR> and <POSITION>.

magni_gazebo magni_gazebo.launch.py

This is the launch file for launching the simulation.

TODO: Port other parts of this package from ROS1 to ROS2