This displays the static map that is being served by map_server, if one exists.When you add this visualization, you will see the map we captured in Chapter 4,The Navigation Stack - Robot Setups, in the Creating a map with ROS section.

In the next window, you can see the display type that you need to select and the name that you must put in the display name:

• Topic: map
• Type: nav_msgs/GetMap