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)