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Recording a Map

Updated: Dec 20, 2019

Part One: Before you get started

1. After turning on the Nimbo, give Nimbo a few second to launch up the Robox, Slam, Radar and RGBD dots on the Nimbo's status screen appear green (the Location dot maybe red or yellow, this is expected behavior).

2. Make sure that the battery percentage is over 50% . 

Suggestions for mapping area

1. Avoid walking through narrow long hallways (10 by 100 feet for example) when recording a new map or route.

2. Keep Nimbo away from glass and large metallic surfaces. These materials can be difficult for the robot to recognize during the mapping process.

3. Record an area no bigger than 30,000 square feet(3000 square meters) and mapping time should be less than 40min.

3. Find a place with rich features compared to the rest of the environment to start the mapping process. (Nimbo can only see walls and pillars within 50 feet /15 meters)

4. Record a 1 min small map first to make sure all the function works well

Part Two: Start mapping

1. Launch Nimbo's remote control in Turing app, and switch to the "Control" mode.

2. You will see a "Mapping" option on the upper right corner of the screen (under the Connection toggle bar). Tap on the green text next to "Mapping."

3. On the pop-up menu that appears, select Record Map.

4. Another pop-up menu will appear on the right side of the screen, select "Record Map" again.

5. Press"Record" for the pop-up message.

Part Three: Creating the map

1. Now you can start moving Nimbo around, and you will see the map begin to appear on your screen as Nimbo starts moving around the area.

2. Use the small loop techniques when recording map. (Like the picture shows below ). 

Nimbo will do auto re-alignment when it detects a mapped area. If the auto re-alignment did not occur, try walk along the previous mapped area for an additional 10 seconds, or 2 meters/6 feet.

3. Make sure the map is aligned correctly using small loop techniques before moving to larger areas.

4. Be sure the map appears white, not grey, as a white map indicates the space has been properly mapped. 

5. To complete the map, tap "Finish" on the right bottom side of the screen.

6. It will take a few moments for the map to process, once it has been completed you will see a success notification and then the final map will be on your screen.

Determining a good map versus a poor one

1. Areas on the map that appear white mean the map is well-generated in that area. Areas that appear light gray means poor quality. For best performance of Nimbo, try make the entire map appears white.

2. It is also important that your map has solid boundaries and corners. Example picture below:

A map with a blurry boundary or corners may cause localization problems. See the example below.

Using the Cruise feature

If you're mapping a large space or hallway, you can switch the joystick to "Cruise" mode while recording. This keeps the robot moving forward on a constant speed, and makes it easier for recording.

1. To enable the Cruise feature, tap the "Cruise" option on the left side of your screen. Your original joystick will change to the Cruise joystick.

2. To move forward or backward, tap the forward or backward arrow buttons. Nimbo will move in a straight direction at a fixed speed.

3. To move left to right, adjust the slider located below the forward and backward arrow keys.

4. To stop cruising, press the square Stop button that is located next to the forward and backward arrows.

Map examples

Examples of good maps

Examples of poor maps

Example 1: The map's boundary and edges are not clear.

Example 2: Some areas of this map is inconsistent with the environment. The gray section in the middle is actually open space, but the lidar reads it as a barrier since it appears gray.

Example 3: Some areas of the map are inconsistent with the actual environment. This can occur if a small portion of an area is mapped too many times without mapping the whole space first.

Example 4: This map shifted during the recording. You might notice this by the edges of the map, which are blurred in some areas.

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