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Just to add something useful to this old thread:
Here's another 2D map:
willow-2010-02-18-0.10.pgm
Available here:
https://github.com/turtlebot/turtlebot_apps/tree/indigo/turtlebot_navigation/maps
"FR079" 2D map and 3D world model:
http://www2.informatik.uni-freiburg.de/~lau/dynamicvoronoi/FR079.png
http://ais.informatik.uni-freiburg.de/projects/datasets/octomap/
2D maps only:
http://www2.informatik.uni-freiburg.de/~lau/dynamicvoronoi/FR101.png
http://www2.informatik.uni-freiburg.de/~lau/dynamicvoronoi/Factory.png
Lots more 2D maps in the USC Radish repository:
http://cres.usc.edu/radishrepository/view-all.php
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