I am currently writing a path planner. I wanted to test the planner for various scenarios.

I was wondering if there is a repository wherein I can find a number of pgm (+yaml) map files.

I came across this link but the two maps mentioned in the answer are very huge. Also, the corresponding yaml file seems to be missing as well.

Also, is there a way one can easily create 'small' maps so as to load them to the map_server ?