Simul-gridmap (1) Linux Manual Page

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 http://sourceforge.net/tracker/?group_id=205280&atid=993006

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 [at] gmail.com>.

Copyright

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3, or (at your option) any later version.

On Debian GNU/Linux systems, the complete text of the GNU General Public License can be found in `/usr/share/common-licenses/GPL’.

simul-gridmap (1) Linux Manual Page