diff --git a/maps/adc_map.yaml b/maps/adc_map.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..259c0559168e285d08d6b4518f8fa5adb129a3a4
--- /dev/null
+++ b/maps/adc_map.yaml
@@ -0,0 +1,6 @@
+image: adc_map.pgm
+resolution: 0.050000
+origin: [-5.000000, -5.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196