This ROS node can be used to learn places by moving the robot around. The places are added in a hierarchical manner to the previously created list of rooms.
When the node is launched, you will see a gui with different buttons. Press the Connect button and open the xml file where the rooms were previously stored. Press the Load map button and open the ROS .pgm map image. The map image is assumed to have the same width and height.
Teleoperate the robot to a desired place. Stop it at a proper location, not too close to obstacles. Once the position and the orientation of the robot are satisfactory, click on the gui and press the button Save place. Choose a name and afterwards a type for the new place to be added. Current supported types are: default, searching position, goTo place, callButton place, floor clearing place and fitness place. The updated xml file with the places that were added should be saved before closing the application. Press the Save button to the same .xml file you saved before, replacing it.