12. Usage
MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S. 172
9. Select Save to save the mission.
12.6 Creating the mission 80 cm doorway
This section describes how to create a mission that makes the robot drive through a doorway
that is 80 cm wide in one direction. To do this, the robot does the following actions:
1. Moves to a position in front of the 80 cm wide doorway (the narrowest possible for
MiR250).
2. Adjusts its localization.
3. Sets a defined narrow footprint.
4. Mutes its Protective fields so it can traverse the doorway.
5. Goes through the doorway to a position on the other side.
6. Changes its footprint back to default.
To create the mission, it is assumed that you have completed the following:
• Created a map. To drive through narrow doorways, it is very important that the map is
accurate and thoroughly cleaned, and that the robot is localized accurately—see Creating
and configuring maps on page108.
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