Closed Yyote closed 5 months ago
Swarm-SLAM does not support 2D lidars at the moment. There are some pointers here if you want to implement it : https://github.com/lajoiepy/cslam_experiments/issues/8 However, 2D inter-robot loop closure detection is difficult considering the small amount of information the sensor outputs. Good luck! :)
I have a problem using Swarm-SLAM with a 2d lidar. I'm launching the experiment_lidar.launch.py with commented out zenoh in a custom launch file with a custom simulator. The lidar gives 120 points around the robot. I managed to launch the algorithms but I get the following error:
I tried varying the voxel_size from 0.1 to 1000 and it made no difference. Any help would be appreciated.