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as @tfoote pointed out, the command should look like

roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/turtlebot/freja02.yaml

Also, make sure you modify the .yaml file and correct the path of .pgm file's location. Suppose you have freja02.pgm also in the home directory, you might want to something like:

emacs freja02.yaml &

This will open a text editor, then correct perhaps the 1st line where describes the path of .pgm file as:

image: /home/turtlebot/freja02.pgm

then save file by Ctrl-s (pressing control key and s). Close the window, and run the .launch file again.

as @tfoote pointed out, the command should look like like:

roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/turtlebot/freja02.yaml

Also, make sure you modify the your .yaml file and correct points out the path right location of .pgm file's location. file. Suppose you have freja02.pgm also in the home directory, you might want to something like:

emacs freja02.yaml &

This will open a text editor, then correct perhaps the 1st line where describes the path of .pgm file as:

image: /home/turtlebot/freja02.pgm

then save file by Ctrl-s (pressing control key and s). Close the window, and run the .launch file again.