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 <[email protected]> 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)