Matlab freezes when trying to addScan to robotics.LidarSLAM object

I've been trying to use the robotics.LidarSLAM function to create an object which plots the multiple lidar scans I have but when I try to add a second scan to the object (usnig addScan), Matlab essentially freezes (stays in the busy state) and I have to force close and restart matlab as a result. I've left it for 30-45 minutes before with no luck and I was wondering if anyone has experience or might know why this is happening.

I have a bunch of lidar scans which I took from the free space sensor in IPG CarMaker which I am looking to plot in this lidar SLAM object. After setting up the initial parameters (lidar range 100m, resolution 20, loop closure threshold 200, loop closure search radius 10), I then begin to add scans to the object. It has no problem adding the first scan which I can plot and see it looks fine but as soon as I try to add a second scan (I've tried adding different scans each time), Matlab tries adding it but basically freezes and remains 'busy' forcing me to close matlab and restart. Even adding in [isScanAccepted, LoopClosureInfo, optimisationInfo] doesn't help and I'm stuck here wondering what to do now.

I don't think the problem is the lidar scans themselves as when I input the first scan, the plot of it looks good and it is able to accept it but I have no clue why this is happening and would appreciate any help with resolving this if anyone has an idea. Thanks

[MathWorks Robotics and Autonomous Systems Team]

Hello Amrik,

It can be quite difficult to determine what is going on without seeing your specific code and data. Would it be possible for you to post your code and a few sample lidar scans?

One thing you can try in the meantime is to reduce the resolution from 20 to 5, and see if that will net you a result in a reasonable amount of time.

[Amrik Sandhu]

Thanks for replying, decreasing the resolution seems to have worked. With a resolution of 5 each addScan only takes 30 seconds or so. I think the lidar data I'm using might be a bit heavy (1000 points) hence why it still takes 30 seconds to process but this is better than nothing.

[Sarah Haider]

please help me when l need to use the code of slam implementation the error in(lidarSlam=robotic.lidarSlam(mapresolotion,maxLidarRange)

How can I solve this error and why this error occure when l use the code