Investigate using map_server then the swarmie will have a compleate map

[Carter90]

saves the current map to mymap.yaml and mymap.pgm

rosrun map_server map_saver -f mymap map:=/achilles/grid_map_viz/obstacle

should be able to rename @htasnim 's occupancy3.jpg to mymap.pgm just need to know the scaling

loads in the map current one of the nodes(probably obstacle or mapping) immediately overwrites it

rosrun map_server map_server mymap.yaml map:=/achilles/grid_map_viz/obstacle

need to install the map server

sudo apt-get install ros-kinetic-map-server

other things to look at

https://github.com/AaronMR/Learning_ROS_for_Robotics_Programming/tree/master/chapter7_tutorials
http://wiki.ros.org/map_server
https://github.com/ethz-asl/rotors_simulator/tree/master/rotors_gazebo_plugins
https://github.com/marinaKollmitz/gazebo_ros_2Dmap_plugin