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Langue: en

Version: 2009-02-08 (fedora - 04/07/09)

Section: 1 (Commandes utilisateur)


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 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'.

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