$
$ Start pose (position and orientation) and map 
$
$ Start pose: x, y, orientation
$ Coordinate systen starts with 0, 0 in lower left corner
$
$   Orientation (right hand coordinate system): 
$   0 in positive x (east)
$   1 in positive y (north)
$   2 in negative x (west)
$   3 in negative y (south)
$ 
$ Now the actual start pose:
$
12 8 2
$ 
$ Now follows the map (consists of only X or .)
$
XXXXXXXXXXXXXXXXXXXX
X..................X
X....XXXXXXXXXXXX..X
X....X..........X..X
X....X..XXXXX...X..X
X....X......X...X..X
X....XXXXXXXX...X..X
X...............X..X
XXXXXXXXXXXXXXXXX..X
X..................X
.........XXXXX.....X
XXX......X...X.....X
X.X......X.........X
X.X......XXXXXXXXXXX
X.X................X
X.X..XXXXXXXXXXX...X
X.X........X...X...X
X.XXXXXX...XXXXX...X
X..................X
XXXXXXXXXXXXXXXXXXXX