I used to rtabmap to build a map with launch:
$ roslaunch rtabmap rgbd_mapping.launch
There are a database of map at ~/.ros/rtabmap.db .Then I terminated the program of building map(rgbd_mapping.launch),launched:
roslaunch rtabmap rgbd_localization.launch
In the GUI, I want to download builded map,but no button about "Download map" item.Can you take some suggestions what I should do?And, in the re-localization, how to get robot's pose ?Thanks in advance.