How to start using LaMa iris with magni-robot?

Hi,

I have installed LaMa iris from here:

I made a catkin_make then.

I’ve started creation of a map:

rosrun iris_lama_ros pf_slam2d_ros scan_topic:=base_scan

Now I would like to create a map using magni robot. Please help!

Hello,
have you tried running:

rosrun iris_lama_ros pf_slam2d_ros scan_topic:=/scan

From your RViz settings it can be seen your lidar is publishing to topic /scan while you were remapping the topic of LaMa from /scan to /base_scan so it is looking for data on the wrong topic.

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Thank you! It’s working now!

Hi Tiho,
We were tring to use the iris_lama slam, but we got a weird error,


If you guys have faced similar issues could you help debug.

Hmm, that could have something to do with lama’s somewhat low transform publishing rate, I think it doesn’t affect mapping much but the lookup_transform function has issues with it and may need to be called multiple times to work (I usually set it up to do recursive calls with a small time delay until it succeeds). I’m not entirely sure what’s going on in the background.

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