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This will be a lot of work so make sure it is worth it.

  1. Import your point cloud into Meshlab or CloudCompare and generate a mesh from it. Here is an example tutorial.
  2. Export the model as a .dae (collada object).
  3. Import the model into gazebo following this tutorial
  4. Make sure the collision model is the same as the visual model.

Good luck and I hope you have a good computer. To be entirely honest, if you world is simply the inside of a building then I would suggest you model it by hand following this tutorial.