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Let me start with the launch file. Hopefully, you have saved your map inside the folder named "test" in the map_server package. Note that and change your launch file as follows.

`<launch>

<arg name="map_file" default="$(find map_server)/test/testmap.yaml"/>

<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"/>

</launch>`

Now to change the color of the map, add the map in rviz, select the topic as global costmap and change the color scheme