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gazebo_gridmap_plugin
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Download README
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README.md
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gazebo_gridmap_plugin
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[](https://github.com/fmrico/gazebo_gridmap_plugin) # gazebo_gridmap_plugin This gazebo plugin creates and publishes to [ROS2 (Rolling)](https://docs.ros.org/en/rolling/index.html) a [grid_map](https://github.com/ANYbotics/grid_map) with elevation and occupancy and a [octomap](https://github.com/OctoMap/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](https://twitter.com/miggsant/status/1494434063838547977)  
