cat ~/maps/hall01.yaml
image: /home/eepp/maps/hall01.pgm
mode: trinary
resolution: 0.05
origin: [-3.15, -3.65, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25
Original map starting in the hallway.
Modified map with blocked off paths.
TBD Add ps -au
following created with rqt_graph