simul-gridmap - Man Page

Robot dataset simulator from a gridmap and a predefined robot path

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.

Options

--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: odometry
--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