robot-playerjoy(1) [debian man page]

robot-playerjoy(1)					      General Commands Manual						robot-playerjoy(1)

NAME

       robot-playerjoy - console-based client for teleoperation

SYNOPSIS

       robot-playerjoy [options] <host:port> [<host:port>]

DESCRIPTION

       robot-playerjoy	is  a console-based client that provides planar, differential-drive teleoperation of position2d and position3d devices. In
       other words, robot-playerjoy allows you to manually drive your (physical or simulated) robot around. robot-playerjoy uses velocity control,
       and so will only work when the underlying driver supports velocity control (most drivers do).

OPTIONS

       -v     verbose mode. Print the Player device state on stdout.

       -3d    connect to position3d interface (instead of position).

       -c     continuously send commands.

       -n     don't send commands or enable motors (for debugging).

       -k     use keyboard control (instead of joystick device).

       -p     print out speeds on the console.

       -udp   use UDP instead of TCP (deprecated, currently disabled).

       -speed speed
	      maximum linear speed in meter per second (default: 0.5).

       -turnspeed speed
	      maximum angular speed in degrees per second (default: 60).

       -dev device
	      joystick device file the joystick is connected to (default: /dev/js0).

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.

Player								     May 2009							robot-playerjoy(1)

robot-pmaptest(1)					      General Commands Manual						 robot-pmaptest(1)

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)

Player								     May 2009							 robot-pmaptest(1)