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I have found out that the map_server uses SDL_image to read image files and dimensions are limited to 8192 x 8192 == 67108864 pixels, approximately half of my map. There is also a one-year open issue in ros-planning GitHub repository. https://github.com/ros-planning/navigation/issues/635 Until now, the best solution is to divide the map to some small maps or sections and write a map switcher node to manage it.