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)