simul-gridmap - Man Page

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 <>.


2023-06-12 perl v5.36.1 Mobile Robot Programming Toolkit - MRPT