Describe your objects

As you should have understood, to gather percepts, Overworld relies on perception modules in the form of plugins. Overworld comes with really basic modules like the robot's perception of static objects. All other inbuild modules are more used for "fake perception", meaning that they do not rely on any precise sensor message. For specific perception algorithms, you can develop your own modules but we will see that later.

In this tutorial, we will mainly see the main reasoning applied by Overworld in order for you to understand want is happening when you will use it with other modules.

The adream building

Before going into the true perception, we will put a more realistic environment than the previous frames. We will use the one coming with Overworld.

In the modules configuration file, change the static file path by package://overworld/config/adream.yaml.

You can use the # symbol to comment lines in yaml files

In the Ontologenius launch file, replace the env ontology by $(find overworld)/ontologies/adream_building.owl.

You can now launch Overworld as usual to see our new environment.