---
name: "robot-pmaptest"
section: "1"
platform: "linux"
package: "robot-player"
version: "3.0.2+dfsg-4+b1"
release: "Debian 7 (Wheezy)"
platforms: ["linux"]
url: "https://new.carta.tech/robot-pmaptest"
---

# robot-pmaptest(1)

occupancy grid map creation tool

## 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\_res***resolution*

  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)](/robot-playervcr/1.md)