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Check out this package:

https://github.com/shilohc/map2gazebo

It claims to do exactly what you are asking for. See also this discussion on Ros Discourse:

https://discourse.ros.org/t/new-package-convert-2d-maps-to-gazebo-worlds/14528

Check out this package:

https://github.com/shilohc/map2gazebo

It claims to do exactly what you are asking for. See also this discussion on Ros ROS Discourse:

https://discourse.ros.org/t/new-package-convert-2d-maps-to-gazebo-worlds/14528