various nodes as converted to colcon build
for the magni_description, I copied it into a ros2_ws/src, edited CMake.txt and package.xml, and then built with colcon_build.
I used:
ros2 launch urdf_tutorial display.launch.py model:=/home/ubiqlap/magni_ws/src/magni_description/urdf/magni.urdf.xacro
to view the model
It is unknow if this will work with magni_bringup
So far I have only tried the plain magni, I haven't tried the tower or loaded the extrinsics.