GridmapNavSimul(1) GUI robot simulation within a gridmap




A GUI application for simulation of robot motion within a simulated environment defined by an occupancy grid map. The program simulates noisy odometry and laser measurements and generates a rawlog which can then be used as the input of SLAM algorithms. A ground truth file is also generated.

The robot is controlled with a joystick or the cursor arrow keys.


Please report bugs at


GridmapNavSimul is part of the Mobile Robot Programming Toolkit (MRPT), and was originally written by the MAPIR laboratory (University of Malaga).

This manual page was written by Jose Luis Blanco <[email protected]>.


This program is free software; you can redistribute it and/or modify it under the terms of the BSD License.

On Debian GNU/Linux systems, the complete text of the BSD License can be found in `/usr/share/common-licenses/BSD'.