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)