There is not a program that makes bumpmaps for you, and that makes perfect sense. Bumpmaps are grayscale images that tell the program how much height and depth to simulate. You can't get this information from an image. Something in an image may be colored black, yet be extruded outwards. For example, those tiles are a darker color, but the white tiles have the same height, so in the bumpmap they're both displayed as white.
A program can't guess at this, all it knows is the color of the pixels. So what you want to do is do it yourself.
To do this, use a program like photoshop or Gimp, convert the image to grayscale and edit it yourself, or you can paint it in yourself with different brushes. The darker something is, the more it will appear to indent, and the whiter it is the more it will appear to extrude. It's all a matter of knowing what's going on in your texture and portraying this in the bumpmap