Return To Map Frame

ReturnToMapFrame is a sample application showing how to use LocalizeAndMap and Localize actions to:

• Compute a map of an environment.
• Use a map to make Pepper localize himself in the corresponding environment.
• Make Pepper return to his original position, defined as the position where he started mapping his environment (map frame).

How to use it

Menu

Select if you want to map Pepper's environment or use a saved map.

Mapping

Pepper will map his surroundings and save the resulting map.

Localization

• Start the localization.
• Wait for Pepper to localize himself.
• Move Pepper away from his original position (map frame).
• Make him go to his original position.