simul-gridmap man page

simul-gridmap — 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.


produce help message
arg grid map file (*.gridmap or *.gridmap.gz)
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
arg (optional) the rawlog from which to take noisy odometry
arg (=361) number of laser ranges per scan (default=361)
arg (=180) span of the laser scans (default=180 degrees)
arg (=0.01) range noise sigma (default=0.01 meters)
arg (=0.05) bearing noise sigma (default=0.05 degrees)
skip the logo at startup


Please report bugs at

See Also

The application wiki page 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 <>.


2015-11-03 perl v5.24.0 Mobile Robot Programming Toolkit - MRPT