robot-pmaptest1

Usage

Overview

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.