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Hi, as Goeff pointed out, the data are stored in ~/.ros/rtabmap.db by default. When clicking on Download Map or Graph under rtabmap_ros/MapCloud rviz plugin, the map is download in RVIZ to be visualized. Data is not saved somewhere. If you want to save the 3D point cloud to a file (PCD, PLY), the easiest and most flexible way is to open the database with rtabmap standalone application, then do File->Export 3D clouds...

$ rtabmap ~/.ros/rtabmap.db

See Export cloud section on this page for more info.

cheers

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