<action> is one of: toppm, tomap, rotate, minimize, info Run ./maptool <action> to get help on using each action.
Provides information on the map, including dimensions, resolution, any placenames stored in the map.
Converts a map file to a ppm file.
Converts an arbitrary image file (jpeg, png, gif, etc.) to a map file.
Rotates an image file by increments of 90 degrees.
Removes extraneous unknown space around the edge of a map.
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.
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".