I am not sure if I understood the problem, but did you try the following?:

ima = rand(320, 200) > 0.5;

imshow(ima); % plot is BW

CMap = [0.5, 0.2, 0.9; 0.1, 0.8, 0.3];

figure, imshow(ima,CMap); % plot is in colors

I always use imagesc, but you can use plot, and just specify the color: e.g. plot(x,y,'r.') will give you red dots at the points x,y

since it is using robotics toolbox, binaryoccupancygrid , at first i define a map, i use the real-world xy coordinates, then fill the maps wile robot is moving, in order to plot it, i can only use show(map) command as it has been recomended in matlab. i cant use imshow or regular plot command, thats why i cant change the color

I tried the h = show(map); colormap(h, summer);

it gives error.

error using colormap

first argument must be a scalar axes

error in

colormap(h,summer)

how can i get the axes handle?

to plot your data 'map' and change the colormap, you can just use:

imagesc(map)

colormap summer

(just a space between 'colormap' and 'summer')