---
name: "simul-gridmap"
section: "1"
platform: "linux"
package: "mrpt-apps"
version: "1:2.14.7+ds-1+b3"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/simul-gridmap"
---

# simul-gridmap(1)

Robot dataset simulator from a gridmap and a predefined robot path

## NAME

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

## SYNOPSIS

simul-gridmap *OPTIONS*

## DESCRIPTION

**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

## BUGS

Please report bugs at https://github.com/MRPT/mrpt/issues

## SEE ALSO

The application list and their documentation: https://docs.mrpt.org/reference/latest/applications.html

## AUTHORS

**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 \<joseluisblancoc@gmail.com\>.

## COPYRIGHT

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'.