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Generate an octomap from your world
Nicolas El Hayek edited this page Apr 10, 2017
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Within your <world_name>.world
file you should have the following line in between your <world>..</world>
tags, which loads the octomap plugin.
<plugin name='gazebo_octomap' filename='librotors_gazebo_octomap_plugin.so'/>
Then you can make a service call as follows, to create an octomap.
rosservice call /world/get_octomap '{bounding_box_origin: {x: 5, y: 0, z: 1.75}, bounding_box_lengths: {x: 20.8, y: 20.8, z: 4}, leaf_size: 0.1, filename: output_filename.bt}'