Optional: RTAB-Map Localization

If you desire to perform localization using the map you created, there are only a few changes you need to make. You can start by duplicating your mapping.launch file and renaming the duplicated file to localization.launch .

The following changes also need to be made to the localization.launch file:

• Remove the args="--delete_db_on_start" from your node launcher since you will need your database to localize too.

• Remove the Mem/NotLinkedNodesKept parameter

• Add the Mem/IncrementalMemory parameter of type string and set it to false to finalize the changes needed to put the robot into localization mode.

This is another method for localization you can keep in mind when working on your next robotics project!