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what is the simplest method of extracting a 2D map file from the scenario?

I am working on USARSim/ROS control framework. I have been able to move robot using keyboard through ROS package. Now I want to generate a global map in 2D of the USARSim environment where the robot is moving. What is the prerequisite for map_saver utility to generate a 2D map? Can anyone please help me regarding this.

what is the simplest method of extracting a 2D map file from the scenario?

I am working on USARSim/ROS control framework. I have been able to move robot using keyboard through ROS package. Now I want to generate a global map in 2D of the USARSim environment where the robot is moving. What is the prerequisite for map_saver utility to generate a 2D map? map? Can anyone please help me regarding this.