1. What is this?

This software package introduces the Recursive World Language (RWL), an interpreted language for constructing large virtual scenarios aimed at simulating datasets for mobile robotics SLAM.

2. Build Dependencies

• CMake (>=2.4)
• MRPT (1.5.x or >=1.9.9)

In Ubuntu: sudo apt-get install cmake libmrpt-dev

3. Included programs

• rwl-compiler: Parses and optionally visualize a virtual world.
• rwt-dataset-simulator: Loads a virtual world, a robot trajectory description and a sensor type and generates a synthetic dataset.

4. Recursive World Language (RWL): Language definition

See RWL language definition

5. Available sensors

See Sensors

6. Some examples

RWL program: world-demo1.wrl

RWL program: world-demo2.wrl

RWL program: world-demo3.wrl