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!