diff --git a/data/armarx_navigation/tests/algorithms/costmaps/spfa-navigation-costmap/costmap.json b/data/armarx_navigation/tests/algorithms/costmaps/spfa-navigation-costmap/costmap.json
new file mode 100644
index 0000000000000000000000000000000000000000..c50923348f34130f7c6a6af743193e0939b5453c
--- /dev/null
+++ b/data/armarx_navigation/tests/algorithms/costmaps/spfa-navigation-costmap/costmap.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4457c741a2c9f44e73d8e35c91b0c4df0e96b7dc5df77a78c16ea6a7e9624205
+size 192
diff --git a/data/armarx_navigation/tests/algorithms/costmaps/spfa-navigation-costmap/grid.exr b/data/armarx_navigation/tests/algorithms/costmaps/spfa-navigation-costmap/grid.exr
new file mode 100644
index 0000000000000000000000000000000000000000..8a77c3e88a88fd99d5b6322e8612ae75f7919d1b
--- /dev/null
+++ b/data/armarx_navigation/tests/algorithms/costmaps/spfa-navigation-costmap/grid.exr
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d175646c8569a50ef1480e2f0ad8848b6b64644b7015a700de366734ad5c9d09
+size 3813
diff --git a/data/armarx_navigation/tests/algorithms/costmaps/spfa-navigation-costmap/mask.ppm b/data/armarx_navigation/tests/algorithms/costmaps/spfa-navigation-costmap/mask.ppm
new file mode 100644
index 0000000000000000000000000000000000000000..8576a934ebfdd60bdcbac06efaaca0266facb7e9
--- /dev/null
+++ b/data/armarx_navigation/tests/algorithms/costmaps/spfa-navigation-costmap/mask.ppm
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57cb70fbc02280575fb2457c4d15a368084b5225b796073e8c9ebea4a066a9e0
+size 47328