Mapping in Environments with Doors
When you deploy Kachaka Pro in a space with doors — manual or automatic — how you build the map directly affects whether it can move between rooms afterward. This page covers what to watch for, and how to recover if a door has been mistaken for a wall.
Why doors should be open during mapping
Kachaka builds its map by scanning the surrounding outline with its laser sensor. If a door is closed while you map, that door panel is scanned as a solid wall and written into the map.
Even if you later open the door so Kachaka can pass, it still treats that spot as a wall (an obstacle) based on what the map recorded. As a result it can’t pass through and can’t enter the room beyond the door.
Recommendation: keep all doors open while building the map. The same applies to automatic doors — hold them open throughout the mapping process so the panel isn’t captured into the map at a moment when it happens to be shut. For general environment prep, see Map prep and accuracy tips.
What to do if you mapped with doors closed and rooms won’t connect
If the map was already built and saved with a door closed, leaving Kachaka unable to move between rooms, you don’t need to rebuild the whole map. Use one of the two methods below.
Option 1: Update the map
Open all the doors, then run Update the existing map (Kachaka Pro). The re-scan adds the previously unrecognized areas and passages to your current map, while keeping furniture, destinations, and no-go zones intact.
Option 2: Set an enterable area
If you’d rather not re-scan, you can simply tell Kachaka “this spot is actually passable.” Even if the map still shows a wall there, set an enterable area over that location in the app and Kachaka will recognize it as a passage and pass through again.