Re-localization problem?

[yincanben]

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.

[m.omar82]

Edit->Download All clouds

[yincanben]

I  have tried to locate,but I want to gain robot's position(or pose),Are there nodes publish this msg?

[matlabbe]

The pose is indirectly published by TF:

$ roslaunch rtabmap_ros demo_robot_localization.launch
$ rosbag play --clock demo_mapping.bag
$ rosrun tf tf_echo /map /base_link
[...]
At time 1368730042.169
- Translation: [2.267, 3.366, 0.142]
- Rotation: in Quaternion [0.000, 0.000, 1.000, -0.023]
            in RPY [0.000, -0.000, -3.095]
At time 1368730043.178
- Translation: [1.792, 3.359, 0.142]
- Rotation: in Quaternion [0.000, 0.000, 1.000, -0.010]
            in RPY [0.000, -0.000, -3.122]
At time 1368730044.230
- Translation: [1.298, 3.364, 0.142]
- Rotation: in Quaternion [0.000, 0.000, 1.000, -0.006]
            in RPY [0.000, -0.000, -3.130]
At time 1368730044.518
- Translation: [1.168, 3.363, 0.142]
- Rotation: in Quaternion [0.000, 0.000, 1.000, -0.007]
            in RPY [0.000, -0.000, -3.127]
[...]