# This represents a 2-D grid map, in which each cell represents the probability of
# occupancy.

Header header

#MetaData for the map
nav_msgs/MapMetaData info

# This data is a png8 image file as it appears on disk encoded as a base64 string.
# When uncompressed the pixel array is in row-major order, starting with (0,0).
# Currently, unknown is 205, free is 255, and occupied is 0.
string data