diff --git a/requirements.in b/requirements.in
index e69de29..231dd17 100644
--- a/requirements.in
+++ b/requirements.in
@@ -0,0 +1 @@
+pygame
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..9e4dd23
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,8 @@
+#
+# This file is autogenerated by pip-compile
+# To update, run:
+#
+#    pip-compile requirements.in
+#
+pygame==2.0.1
+    # via -r requirements.in
diff --git a/slam/environment.py b/slam/environment.py
index e69de29..9ba6871 100644
--- a/slam/environment.py
+++ b/slam/environment.py
@@ -0,0 +1,34 @@
+from collections import namedtuple
+
+import pygame
+
+RGB_COLOR_CODES = [
+    (0, 0, 0),  # black
+    (70, 70, 70),  # grey
+    (0, 0, 255),  # blue
+    (0, 255, 0),  # green
+    (255, 0, 0),  # red
+    (255, 255, 255)  # white
+]
+
+Colors = namedtuple("Colors", "black,grey,blue,green,red,white", defaults=RGB_COLOR_CODES)
+
+
+class Environment:
+
+    def __init__(self, map_path: str, map_height: int, map_width: int, window_name: str = "RRT path planning",
+                 colors: Colors = None):
+        self.point_cloud = []
+        self.external_map = pygame.image.load(map_path)
+        self.map_height = map_height
+        self.map_width = map_width
+        self.window_name = window_name
+        self.colors = colors if colors else Colors()
+        self._initialize_pygame()
+
+    def _initialize_pygame(self):
+        pygame.init()
+        pygame.display.set_caption(self.window_name)
+        self.map = pygame.display.set_mode((self.map_width, self.map_height))
+        # overlay external map
+        self.map.blit(self.external_map, (0, 0))
diff --git a/slam/main.py b/slam/main.py
index e69de29..003af9e 100644
--- a/slam/main.py
+++ b/slam/main.py
@@ -0,0 +1,27 @@
+import math
+
+import pygame
+
+from slam.environment import Environment
+
+PYGAME_RUNNING = True
+
+
+def main():
+    global PYGAME_RUNNING
+    environment = Environment(map_path="../data/slam_demo_floor_plan.png", map_height=600, map_width=1200)
+
+    while PYGAME_RUNNING:
+
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                PYGAME_RUNNING = False
+
+        # Updates the map
+        pygame.display.update()
+
+    exit(0)
+
+
+if __name__ == "__main__":
+    main()