# SaltyBot placeholder map — 10m × 10m all free space at 0.05 m/cell.
#
# Replace with a real map saved by slam_toolbox or RTAB-Map:
#   ros2 run nav2_map_server map_saver_cli -f /mnt/nvme/saltybot/maps/my_map
#
# Then launch with:
#   ros2 launch saltybot_nav2_slam nav2_amcl_bringup.launch.py \
#       map:=/mnt/nvme/saltybot/maps/my_map.yaml

image:      saltybot_map.pgm
mode:       trinary
resolution: 0.05          # m/cell — matches costmap resolution
origin:     [-5.0, -5.0, 0.0]   # lower-left corner (x, y, yaw)
negate:     0             # 0: white=free, black=occupied
occupied_thresh:  0.65    # p ≥ 0.65 → lethal
free_thresh:      0.25    # p ≤ 0.25 → free
