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+# octomap_to_gazebo_world
+
+#Installation
+Clone this directory into your catkin_ws/src folder
+then run catkin_make install followed by resourcing your catkin_ws/devel/setup.bash file
+
+
+#Usage
+An example of how to use this program can be found in the run.sh file
+
+Basically you need to provide a occupancy grid map in the form of a .png file and a .yaml file with the same name.
+
+Examples are provided in the Maps folder.
+
+Then just run roslaunch octomap_to_gazebo generate_world_and_contours.launch to create the .world file and a .dat file containign the raw contours
+To view the world in Gazebo run:
+roslaunch octomap_to_gazebo launch_gazebo_world.launch world:=(name of world file).world