The bbox_viewer_app from the fps_mapper package allows to create and edit bounding boxes for maps. Use the command line option ‘map’ to set the filename for the input map, ‘bbox’ for the filename for the input bounding boxes, and ‘-o’ to set a filename to save the bounding boxes to. In the example below, changes are written to the same file that we were reading from. If you do not want to overwrite your previous bounding box text file, set a different filename to save at.

/ros_indigo_workspace/devel/lib/fps_mapper/bbox_viewer_app \
  map ./map.txt \
  bbox ./bbox.txt
  -o  ./bbox.txt