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Here's a command that worked in case anyone needs it :

rosrun map_server map_server bitmaps/cave.png 0.1

~~Here's~~ This is what happens when map_server cannot find the bitmap file. There was a ~~command that worked~~ typo in ~~case anyone needs it :~~my yaml config file.

~~rosrun map_server map_server bitmaps/cave.png 0.1~~

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