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

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>.

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

       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'.

perl v5.34.0                                       2022-02-05                                   SIMUL-GRIDMAP(1)

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.

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

--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

       The application wiki page at https://www.mrpt.org/Applications

       simul-gridmap OPTIONS