The use of ray-tracing for modeling the propagation of sound through an indoor environment has long been a mainstay of architectural acoustics. Provided accurate enough models of sound sources and the surrounding environment are available, ray-tracing can be used to predict not just volume information, but also the energy and direction of sound incident upon a receiver, and even reconstruct the wave for auralization. For mobile robots, this is important for exploring simulation work in the rapidly expanding domain of auditory perception. Given a known environment, a robot can test perception models or construct aurally dependent paths through an environment. This work evaluates the effectiveness of ray-tracing as a simulation tool through real robotic experiments, comparing the predicted sound volumes with measured data. Furthermore, this work explores using robot generated three-dimensional obstacle maps from an on-robot time-of-flight camera as part of the environment map passed to the acoustic simulator.