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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)

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