Re: [Playerstage-users] amcl & pmap

[Brian G. <br...@ge...>]

On Mar 19, 2007, at 12:29 PM, Vaibhav Ghadiok wrote:

> hi
>
> 1. I am unable to find documentation on either the pmap utility or  
> the amcl source code,

amcl is documented here:

http://playerstage.sourceforge.net/doc/Player-2.0.0/player/ 
group__driver__amcl.html

Here is some slightly outdated documentation on pmap_test (with links  
to the component libraries):

http://www-robotics.usc.edu/~ahoward/pmap/group__pmap__test.html

> 2. I was unable to find pmap in the location you had specified.  Is  
> playerwritemap same as pmap?

playerwritemap is a client-side tool that retrieves map from the  
server and writes it to disk as a bitmap.  It doesn't create maps.

pmap, on the other hand, is a collection of libraries for doing  
SLAM.  They are compiled into a standalone program called 'pmap_test'  
that can process Player log files of odometry and laser scans and  
produce a map (saved to disk as a bitmap).

> 3. Hasn't pmap been deprecated.

No, just the separate package was deprecated.  pmap has been  
integrated into Player as a utility, and is included in the  
distribution, in the directory that Brendan indicated.

> No where in the Documentation has map handling been discussed.  
> Neither in the Tutorials nor in the Utilities section.

This is true, and it needs to be done.  For now, you'll have to  
explore, ask specific questions, and we'll help where we can.

	brian.

> Vaibhav,
> The source for amcl is in player-2.0.3/server/drivers/localization
> /amcl
>
> Maps are just image files, you can use the pmap utility:
> player-2.0.3/utils/pmap. Or you can use a different SLAM program like
> carmen (@ CMU) to build maps.
>
> Hope that helps.
> --brendan
>