Create a PRM from a Gazebo world

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Hello,

I have a Gazebo world, just with walls, and a simple robot with sdf. I would like to create a PRM (probabilistic roadmap) of my environment, without using any camera to map the environment. Is there any way to do this directly? I know OMPL does, but, how can I validate states and edges of the PRM just having a gazebo world? My question is: there is something out of the box which I can use?

Thank you very much