# Voxl-mapper instructions

Source: https://forum.modalai.com/topic/593/voxl-mapper-instructions
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2021-12-03 21:45:33 UTC by alarm_hq
Replies: 1 · Views: 559

## alarm_hq · 2021-12-03 21:45:33 UTC

I was able to compile, deploy and run the voxl-mapper tool. 

I've generated some 0-byte ply and related files /etc/voxl_mapper, and noticed that when viewing live in rviz seems to result in triggering [timestamp too new](https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-mapper/-/blob/master/server/voxl-mapper/rc_transform_ringbuf.c#L310).

What would be an ideal mapping process? How should the drone be handled in order to keep the service alive?

Thanks!

## Reply by Guest · 2021-12-06 18:45:28 UTC

Hello @alarm_hq!
Please see the updated readme on voxl-mapper's [dev branch](https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-mapper/-/tree/dev) for an overview guide of this package. As for the timestamp too new error, this error typically arises when there is a VIO blowup, and one way to prevent this is by ensuring that the tracking camera is correctly calibrated pre-flight. Also, please see the overview guide for instructions on viewing, as RVIZ is no longer utilized!