robot-playernav(1) [debian man page]

robot-playernav(1)					      General Commands Manual						robot-playernav(1)

NAME

       robot-playernav - GUI client to control over localize and planner devices

SYNOPSIS

       robot-playernav [options] <host:port> [<host:port>...]

DESCRIPTION

       robot-playernav	is  a  GUI  client that provides control over localize and planner devices. It allows you to set your robots' localization
       hypotheses by dragging and dropping them in the map. You can set global goals the same way, and see  the  planned  paths  and  the  robots'
       progress toward the goals. robot-playernav can also display (a subset of) the localization system's current particle set, which may help in
       debugging localization. You can think of playernav as an Operator Control Unit (OCU). robot-playernav can also be used just to view a map.

OPTIONS

       -fps dumprate
	      dump screenshots rate in Hz (default: 5Hz).

       -zoom zoomlevel
	      initial level of zoom in the display (default: 1).

       -aa {0|1}
	      use anti-aliased canvas for display (0 == false; 1 == true).  The anti-aliased canvas looks nicer but  may  require  more  processor
	      cycles (default: 1).

       -map map_idx
	      the index of the map to be requested and displayed (default: 0).

AUTHOR

       Player  was  written  by Brian Gerkey <gerkey@users.sourceforge.net> and contributors.  This manual page was written by Daniel Hess for the
       Debian Project.

SEE ALSO

       The HTML documentation in /usr/share/doc/player/html of the robot-player-doc package.

Player								     May 2009							robot-playernav(1)

robot-pmaptest(1)					      General Commands Manual						 robot-pmaptest(1)

NAME

       robot-pmaptest - occupancy grid map creation tool

SYNOPSIS

       robot-pmaptest [options] <logfilename>

DESCRIPTION

       robot-pmaptest  is  utility  demonstrates  the basic functionality of the pmap library and serves a handy mapping utility in its own right.
       Given a Player logfile containing odometry and laser data, robot-pmaptest will produce an occupancy grid map of the environment.

OPTIONS

       -g     disable the GUI (run in console mode only).

       --range_max range
	      maximum effective range for the laser in meter (default: range saved in logfile).

       --position_index index
	      index of odometry device in logfile (defualt: 0).

       --laser_index index
	      index of laser device in logfile (default: 0).

       --num_samples number
	      number of samples in particle filter (default: 200).

       --resample_interval number
	      number of scans between resampling steps.

       --resample_sigma width
	      width of resampling gaussian.

       --num_cycles number
	      number of optimization cycles in the fine phase (default: 100).

       --robot_x position
	      initial position of the robot on the x-axis.

       --robot_y position
	      initial position of the robot on the y-axis.

       --robot_rot rotation
	      initial rotation of the robot in degrees.

       --grid_width width
	      width of the grid in meters (default: 64.0).

       --grid_height height
	      height of the grid in meters (default: 48.0).

       --grid_scale scale
	      scale of the grid in meters per cell (default: 0.10).

       --laser_x position
	      position of the laser scanner on the robot.

       --laser_rot rotation
	      rotation of the laser scanner on the robot in degrees.

       --robot_hostname hostname
	      the hostname of the robot to verify in the logfile.

       --robot_hostname hostname
	      the hostname of the robot to verify in the logfile.

       --skip time
	      amount of time to skip between log entries.

       --range_resresolution
	      resolution of the laser (only used inlodo, not lodo2 which is currentlyused).

       --action_model_xx factor
	      believe factors in the change of the robot's pose.

       --action_model_rx factor
	      believe factors in the change of the robot's pose.

       --action_model_rr factor
	      believe factors in the change of the robot's pose.

AUTHOR

       Player was written by Brian Gerkey <gerkey@users.sourceforge.net> and contributors.  This manual page was written by Daniel  Hess  for  the
       Debian Project.

SEE ALSO

       The HTML documentation in /usr/share/doc/player/html of the robot-player-doc package.  robot-playervcr(1)

Player								     May 2009							 robot-pmaptest(1)