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This netpbmfile library could help you generate your PGM map file with *.yaml file too (documentation of YAML format for ROS)- then you can go with steps from this YT tutorial to load this map inside ROS1 Navigation stack.

This netpbmfile library could help you generate your PGM map file with *.yaml file too (documentation of YAML format for ROS)- then you can go with steps from this YT tutorial to load this map inside ROS1 Navigation stack.

EDIT: Example usage: image description