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.IX Title "SIMUL-GRIDMAP 1"
.TH SIMUL-GRIDMAP 1 2024-03-17 "perl v5.38.2" "Mobile\ Robot\ Programming\ Toolkit\ -\ MRPT"
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.SH NAME
simul\-gridmap \- Robot dataset simulator from a gridmap and a predefined robot path
.SH SYNOPSIS
.IX Header "SYNOPSIS"
simul-gridmap \fIOPTIONS\fR
.SH DESCRIPTION
.IX Header "DESCRIPTION"
\&\fBsimul-gridmap\fR is a command-line application which generates a synthetic rawlog of a simulated robot 
as it follows a path (given by the \fIposes.txt\fR file) and takes measurements from a laser scanner in a 
world defined through an occupancy grid map.
.SH OPTIONS
.IX Header "OPTIONS"
\&\fB\-\-help\fR                produce help message
.PP
\&\fB\-\-grid\fR arg            grid map file (*.gridmap or *.gridmap.gz)
.PP
\&\fB\-\-poses\fR arg           poses text file, one 'time x y phi' line per pose
.PP
\&\fB\-\-out\-rawlog\fR arg      the output rawlog to generate  from which to take noisy
                       odometry
.PP
\&\fB\-\-in\-rawlog\fR arg       (optional) the rawlog from which to take noisy odometry
.PP
\&\fB\-\-ranges\fR arg (=361)   number of laser ranges per scan (default=361)
.PP
\&\fB\-\-span\fR arg (=180)     span of the laser scans (default=180 degrees)
.PP
\&\fB\-\-std_r\fR arg (=0.01)   range noise sigma (default=0.01 meters)
.PP
\&\fB\-\-std_b\fR arg (=0.05)   bearing noise sigma (default=0.05 degrees)
.PP
\&\fB\-\-nologo\fR              skip the logo at startup
.SH BUGS
.IX Header "BUGS"
Please report bugs at https://github.com/MRPT/mrpt/issues
.SH "SEE ALSO"
.IX Header "SEE ALSO"
The application list and their documentation: https://docs.mrpt.org/reference/latest/applications.html
.SH AUTHORS
.IX Header "AUTHORS"
\&\fBsimul-gridmap\fR is part of the Mobile Robot Programming Toolkit (MRPT), and was originally 
written by the MAPIR laboratory (University of Malaga).
.PP
This manual page was written by Jose Luis Blanco <joseluisblancoc@gmail.com>.
.SH COPYRIGHT
.IX Header "COPYRIGHT"
This program is free software; you can redistribute it and/or modify it
under the terms of the BSD License.
.PP
On Debian GNU/Linux systems, the complete text of the BSD License can be 
found in `/usr/share/common\-licenses/BSD'.