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I think i can't really understand what are you mean , Do you want : (1) load a 2D pre-built map to ROS map server and use this map to test robot navigation package? or (2) Simulate a 3D environment and let robot use this simulator environment to build a map then using to navigation stack .

if the situation (1) : follow @Andromeda 's answer , and i think the "arbotix" simulator and "rbx1" package which you can find in http://wiki.ros.org will help you . (2) : can't find any tutorial already exist , but you can try to use gazebo_world_edit & ros_plugin , some tutorial link: http://gazebosim.org/tutorials ,hope it will useful ~