navigation with robot using mapped rtabmap !

[saber]

how can i using the saved map to navigate in rviz ??
and how can i add the external odometry for my systel like wheel and imu ?

[saber]

im using ubuntu server for rtabmap

[matlabbe]

I suggest to try one of the demos on turtlebot3 + RGB-D camera: https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_demos#turtlebot3-nav2-and-rgb-d-slam

You can relaunch with "localization:=true" after first creating a map by sending goals in rviz.

[saber]

so first mapping then i save the map with map server
then  i relaunch the just modifying the same launch file with  localization set to true ? is that true ?

[saber]

Can i use the map server to save the map ??
i konw that rtabmap publich directly

[saber]

and if i using map server in localization mode what i change in nav2 param

[matlabbe]

In the example, the map is automatically saved under `~/.ros/rtabmap.db`. When relaunching in localization mode, rtabmap reloads `~/.ros/rtabmap.db` and starts localizing in it. There is no map_server or AMCL involved in that example.