Motion planning collision checking on Gazebo virtual worlds

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Hello everyone,

I will create a virtual building in Gazebo with the building editor. Then, I want to do motion planning in that building. In the past, I was carrying out a mapping step in which I was teleoperating the robot and building an octomap from the sensor data. Then I used the octomap for collision checking.

Now, I would like to directly use the environment saved for collision checking or to automatically convert it into an octomap (or just a 3D occupancy grid), so I do not need to manually sense the map. Any ideas on how to do this? Thank you!