What is it¶
ExplorationMap represents a description of Pepper’s environment, used by Pepper to localize
himself relatively to his surroundings.
How to use it¶
Dumping an ExplorationMap¶
ExplorationMap is obtained by dumping a representation of the environment Pepper has explored
during the run of a LocalizeAndMap action.
Localizing inside an ExplorationMap¶
ExplorationMap can then be used by a Localize action, so that Pepper keeps track of his
position relatively to where he was when he started the
Saving ExplorationMap content for future use¶
ExplorationMap can be serialized to text, for example to save it to a file and store it
Loading an ExplorationMap from its content¶
To re-use the content of a serialized
ExplorationMap, one can build a new
object from the content.
Performance and limitations¶
The format of a map is not definitive and may change as improvements are made to this functionality. It is advised to remap the environment after a system upgrade.
A map, made by a robot may be shared with another robot provided that their hardware are fully compatible.