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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

Captura de pantalla 2022-02-16 20:00:46 Captura de pantalla 2022-02-16 19:59:42 Captura de pantalla 2022-02-16 19:58:26

Octomap example

octomap_example

Provided by @miggsant

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