# How to start using LaMa iris with magni-robot?

**URL:** <https://forum.ubiquityrobotics.com/t/how-to-start-using-lama-iris-with-magni-robot/884>\
**Category:** Uncategorized\
**Created:** [September 7, 2021, 12:06pm UTC](https://forum.ubiquityrobotics.com/t/how-to-start-using-lama-iris-with-magni-robot/884 "2021-09-07T12:06:06Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![tiho\_bg](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/t/ea666f/32.png) [@tiho\_bg](https://forum.ubiquityrobotics.com/u/tiho_bg)\
**Post date:** [September 7, 2021, 12:06pm UTC](https://forum.ubiquityrobotics.com/t/how-to-start-using-lama-iris-with-magni-robot/884/1 "2021-09-07T12:06:06Z")

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Hi,

I have installed LaMa iris from here:

> **[GitHub - iris-ua/iris\_lama\_ros: LaMa on ROS](https://github.com/iris-ua/iris_lama_ros)**
>
> LaMa on ROS

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!

 ![laser2](https://frm.ubiquityrobotics.com/uploads/default/original/1X/360f4c23accea1e7c480696bc01b3bacd6fd7e73.png)

 ![laser3](https://frm.ubiquityrobotics.com/uploads/default/original/1X/28484b2c9c9486d0f29ad5a5ca287d5d8ade3559.png)

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**Author:** ![miha.jelencic](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/m/a88e57/32.png) [@miha.jelencic](https://forum.ubiquityrobotics.com/u/miha.jelencic)\
**Post date:** [September 7, 2021, 12:27pm UTC](https://forum.ubiquityrobotics.com/t/how-to-start-using-lama-iris-with-magni-robot/884/2 "2021-09-07T12:27:19Z")

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Hello,  
have you tried running:

```auto
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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**Author:** ![tiho\_bg](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/t/ea666f/32.png) [@tiho\_bg](https://forum.ubiquityrobotics.com/u/tiho_bg)\
**Post date:** [September 8, 2021, 12:46pm UTC](https://forum.ubiquityrobotics.com/t/how-to-start-using-lama-iris-with-magni-robot/884/3 "2021-09-08T12:46:24Z")

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Thank you! It’s working now!

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**Author:** ![mikarvi1](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/mikarvi1/32/628_2.png) [@mikarvi1](https://forum.ubiquityrobotics.com/u/mikarvi1)\
**Post date:** [May 23, 2022, 1:03pm UTC](https://forum.ubiquityrobotics.com/t/how-to-start-using-lama-iris-with-magni-robot/884/4 "2022-05-23T13:03:05Z")

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

 ![image](https://frm.ubiquityrobotics.com/uploads/default/original/1X/25f82f9d0340bd53ad97b2a374fd2dda137ebfd5.png)  
If you guys have faced similar issues could you help debug.

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**Author:** ![MoffKalast](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/moffkalast/32/214_2.png) [@MoffKalast](https://forum.ubiquityrobotics.com/u/MoffKalast)\
**Post date:** [May 26, 2022, 2:12pm UTC](https://forum.ubiquityrobotics.com/t/how-to-start-using-lama-iris-with-magni-robot/884/5 "2022-05-26T14:12:05Z")

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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.