simul-gridmap(1) Robot dataset simulator from a gridmap and a predefined robot path


simul-gridmap OPTIONS


simul-gridmap is a command-line application which generates a synthetic rawlog of a simulated robot as it follows a path (given by the poses.txt file) and takes measurements from a laser scanner in a world defined through an occupancy grid map.


--help produce help message

--grid arg grid map file (*.gridmap or *.gridmap.gz)

--poses arg poses text file, one 'time x y phi' line per pose

--out-rawlog arg the output rawlog to generate from which to take noisy

--in-rawlog arg (optional) the rawlog from which to take noisy odometry

--ranges arg (=361) number of laser ranges per scan (default=361)

--span arg (=180) span of the laser scans (default=180 degrees)

--std_r arg (=0.01) range noise sigma (default=0.01 meters)

--std_b arg (=0.05) bearing noise sigma (default=0.05 degrees)

--nologo skip the logo at startup


Please report bugs at


simul-gridmap 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'.