Hi Sascha,
I have no experience with the Minimig. I use PICs a lot in my work though. I generally use in circuit serial programming (ICSP) pins, rather than a bootloader. Acube really should have included the bootloader firmware in the PIC.
Just a few notes to explain the difference:
Dedicated PIC programming hardware uses dedicated pins on the PIC to write to the PICs program memory. In some designs (I guess the Minimig is included here), those programming pins on the PIC may not be available to plug in a header for the programming hardware. If using a bootloader, and not ICSP, then three I/O pins are made available for other uses. I'm guessing these pins are used in the Minimig.
A bootloader has two parts:
-PC software: interfaces to the PIC using a UART (RS-232), sends a command for the PIC to initiate a series of table write operations to program memory, and then dumps all the instructions to the PIC.
-PIC firmware: generally a set of instructions that sits in the start of program memory, which waits for the command to commence operation. When started, it buffers the instructions received from the PC, and writes the buffered data to program memory space usig table write commands. The PIC bootloader firmware must first be programmed in the PIC using programming hardware, such as the PIC Kit 2.
There are many programmers available now. At work I use the MPLAB ICD 2 (which is not very robust). At home I use a Willem from Sivava. There are many others available. I like the Willem as a hobby programmer, as it is quite versatile for use with other chips.
Hope that helps.
Oliver