How to start using LaMa iris with magni-robot?

tiho_bg · September 7, 2021, 12:06pm

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!

miha.jelencic · September 7, 2021, 12:27pm

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.

tiho_bg · September 8, 2021, 12:46pm

Thank you! It’s working now!

mikarvi1 · May 23, 2022, 1:03pm

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.

MoffKalast · May 26, 2022, 2:12pm

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.