Can turtlebot_simulator be loaded with a PGM map?

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Hello,

I have a Turtlebot 2 on ROS Hydro, and I am working on an algorithm for smart autonomous navigation through a known map. I have a map of the building I wanted to test in PGM form, obtained from running Gmapping. In real life, I would take this map, boot up my 'bot, load AMCL for localization within my PGM map, and then start my navigation algorithm.

I'd like to also be able to do this in the simulation world, i.e., start the simulator, load my map into Gazebo, start AMCL with the same map, and start my algorithm and watch the simulated robot drive around.

Currently I cannot find any way to load the PGM into Gazebo or convert it into a .world file. Is this something that's already available or would I need to write a custom program to create a world file where each black pixel is an obstacle?

Thanks in advance!