Provided by: mrpt-apps_1.5.6-1build1_amd64 bug


       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.


       --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


       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 <>.


       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