  We report on results of an observing campaign to support the Juno mission. At
the beginning of 2016, using TEXES (Texas Echelon cross-dispersed Echelle
Spectrograph), mounted on the NASA Infrared Telescope Facility (IRTF), we
obtained data cubes of Jupiter in the 1930--1943 cm$^{-1}$ spectral ranges
(around 5 $\mu$m), which probe the atmosphere in the 1--4 bar region, with a
spectral resolution of $\approx$ 0.15 cm$^{-1}$ and an angular resolution of
$\approx$ 1.4". This dataset is analysed by a code that combines a line-by-line
radiative transfer model with a non-linear optimal estimation inversion method.
The inversion retrieves the vertical abundance profiles of NH$_3$ - which is
the main contributor at these wavelengths - with a maximum sensitivity at
$\approx$ 1--3 bar, as well as the cloud transmittance. This retrieval is
performed on over more than one thousand pixels of our data cubes, producing
maps of the disk, where all the major belts are visible. We present our
retrieved NH$_3$ abundance maps which can be compared with the distribution
observed by Juno's MWR (Bolton et al., 2017; Li et al., 2017) in the 2 bar
region and discuss their significance for the understanding of Jupiter's
atmospheric dynamics. We are able to show important latitudinal variations -
such as in the North Equatorial Belt (NEB), where the NH$_3$ abundance is
observed to drop down to 60 ppmv at 2 bar - as well as longitudinal
variability. In the zones, we find the NH$_3$ abundance to increase with depth,
from 100 $\pm$ 15 ppmv at 1 bar to 500 $\pm$ 30 ppmv at 3 bar. We also display
the cloud transmittance--NH$_3$ abundance relationship, and find different
behaviour for the NEB, the other belts and the zones. Using a simple cloud
model, we are able to fit this relationship, at least in the NEB, including
either NH$_3$-ice or NH$_4$SH particles with sizes between 10 and 100 $\mu$m.
