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I'm not aware of a tool that can automate this (maybe the building editor for gazebo could help: http://wiki.gazebosim.org/wiki/Building_Editor). I previously used Blender to achieve what you describe. If you know how to use it, it's a few minutes of work to load the map image, trace the walls in 2D and then extrude walls from the 2D footprint, resulting in a mesh you can load in gazebo. How practical this is also depends on how often you have to do it and how complex the maps are, of course.