gazebo_gridmap_plugin

This gazebo plugin creates and publishes to ROS2 (Rolling) a grid_map with elevation and occupancy and a octomap representing the 3D space

Usage:

   <plugin name='gridmap' filename='libgazebo_ros_gridmap.so'>
      <ros>
        <namespace>demo</namespace>
      </ros>
      <center_x>0.0</center_x>
      <center_y>0.0</center_y>
      <min_scan_x>-10.0</min_scan_x>
      <min_scan_y>-10.0</min_scan_y>
      <min_scan_z>-10.0</min_scan_z>
      <max_scan_x>10.0</max_scan_x>
      <max_scan_y>10.0</max_scan_y>
      <max_scan_z>10.0</max_scan_z>
      <min_height>0.2</min_height>
      <max_height>1.5</max_height>
      <resolution>0.1</resolution>
    </plugin>

captures

Octomap example

Provided by @miggsant