The Mobile Robot Programming Toolkit

Description

GridmapNavSimul (Grid map navigation simulator) is a GUI program that takes an occupancy gridmap and let you move a robot around simulating a laser scanner. The robot can be guided manually with keystrokes, with a joystick or reproduce a sequence of fixed poses given in a file.

The intention of the program is to save all the sensor data as dataset files: laser scans and odometry. That is, the program is a generator of synthetic robotics data sets.

Both sensors (laser scan & odometry) have configurable levels of noise and different kinds of simulated random errors. This program comes within MRPT packages (Ubuntu users only need to install mrpt-apps from Synaptics), and its source code can be found in MRPT/apps/.

The most relevant C++ classes involved in this program are:

• mrpt::slam::COccupancyGridMap2D: The 2D grid map.
• mrpt::slam::CObservation2DRangeScan: The 2D laser scan observation data.
• mrpt::utils::CRobotSimulator: A very basic 2D robot motion simulator.

Video tutorial