How to use a ready map (floor plan) for the navigation stack without executing the gmapping?

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Hello to all,

I'm going to need your help and experience in the following topic.

So far, in every single navigation stack tutorial/example that I found, everybody assumes that we have to use the gmapping package to prepare the two require files map.pgm and map.yaml

Then pass this map to a map server and support localisation etc.

In my specific application, it happens to have already the static map which is actually the floor plan of the floor. Therefore, I don't want the robot to build the map and at this stage I need to get this autocad file (which could be exported in a png format) and "convert" it to a ROS map file.

I imagine that I need to pre-proccess it in a way and simplify it that white space is the free space, walls are black lines and gray unknown. Then point to those couple of files (pgm and yaml) map server and continue with localisation and so on.

But what about the scaling? or what about the yaml file and how to populate it? Does anybody has done something similar? Should I do something specific to avoid troubles?

Thanks in advance for your support.

Regards, Angelos