Is there a map that....

shows all the cities and outposts? I completed all the quests in all the cities and outposts i currently found but its hard finding more and with a map i would know exactly where to go.

You can always check the wikis, for instance: http://guildwars.wikia.com/wiki/Maps. Watch out, the pics are high-res so they're quite huge in filesize (wiki recommends you download them on your pc)

They aren't that large when you look at one area at a time. That's what I do.