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I'm not aware of a tool that does this out of the box. People at ETH Zurich however developed a pluging for generating octomaps from a Gazebo world (see also here). Running that first and then generating a 2D map out of the octomap looks like a workable solution. There is code for generating a 2D map slice from octomap data in OctomapServer, but it is distributed among other functionality quite a bit there. I created a condensed version here.

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