Maptools

Maptool

The maptool program allows maps to be modified on the command line.

Usage: ./maptool <action> <...>

<action> is one of: toppm, tomap, rotate, minimize, info Run ./maptool <action> to get help on using each action.

Usage: ./maptool info <filename>

Provides information on the map, including dimensions, resolution, any placenames stored in the map.

Usage: ./maptool toppm <map filename> <ppm filename>

Converts a map file to a ppm file.

Usage: ./maptool tomap <resolution> <ppm filename> <map filename>

Converts an arbitrary image file (jpeg, png, gif, etc.) to a map file.

Usage: ./maptool rotate <rotation in degrees> <in map filename> <out map filename>

Rotates an image file by increments of 90 degrees.

Usage: ./maptool minimize <in map filename> <out map filename>

Removes extraneous unknown space around the edge of a map.

Usage: ./maptool <mapfilename> <placename> <place params>

Adds a placename to a mapfile. Note that unlike rotate, minimize, etc., addplace performs an in-place edit to the map, and creates a backup copy.

2, 3, or 6 place parameters can be given. 2 parameters - named position (x, y) 3 parameters - named pose (x, y, theta) 6 parameters - initialization position (x, y, theta, std_x, std_y, std_theta)

Remember: The x/y/std_x/std_y co-ordinates are in METRES, not in grid cells.

Also: theta is in DEGREES. maptool will print out the conversion to radians automatically for you.

Usage: ./maptool strip

If the map file contains a data chunk of this type, it will be removed on output. All other chunks will be passed through untouched. <chunk type>=""> can be one of "laserscans", "places", "gridmap", "offlimits", "expected".

clf2linemap

Converts a carmen logfile into a line map.

Map

Serves a map server, if param_daemon is not started with a map argument.
Generated on Wed Apr 5 18:34:20 2006 for CARMEN by  doxygen 1.4.4