Doorway identification

I have noticed that the robot has some problems identifying doorways with thresholds:
1. Identifying false doorway at edge of thin carpet close to wall shelf
2. Problems when trying to enter room. Makes 2 spinns then give up.

It seems like it doesn't measure room depth through the doorway/threshold.
If roomdepth is >1m it should try (harder) to enter, and if it is <1m it is a false doorway.

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  • This should also be complemented with settings for threshold hight i.e: 10-20mm, 24mm, 0-15mm. This makes it easier for the robot to make a valid doorway decision. In particular when having thresholds at max height, 24mm (as I have problems with).

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