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What is your TF tree? Normally it should give the same pose if it is rtabmap that is publishing the map frame. As @tryan said in the comment, in mapping mode it is only published when a loop closure happens. Example from the mapping demo:

$ rostopic echo /rtabmap/localization_pose
header: 
  seq: 77
  stamp: 
    secs: 1368730236
    nsecs: 134734750
  frame_id: "map"
pose: 
  pose: 
    position: 
      x: 5.55326509475708
      y: 0.23269307613372803
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.12789368571831303
      w: 0.9917878825503819
  covariance: [0.010061253030561875, 1.0726019974909155e-08, 0.0, 0.0, 0.0, 2.1881313138980934e-07, 1.0726019974909155e-08, 0.01006118062633855, 0.0, 0.0, 0.0, 2.4385704188259004e-07, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 2.1881313138980934e-07, 2.4385704188259004e-07, 0.0, 0.0, 0.0, 6.1001109372668455e-06]

$ rosrun tf tf_echo map base_footprint
At time 1368730235.810
- Translation: [5.552, 0.219, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.072, 0.997]
            in RPY (radian) [0.000, -0.000, 0.145]
            in RPY (degree) [0.000, -0.000, 8.305]
At time 1368730236.798
- Translation: [5.553, 0.233, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.226, 0.974]
            in RPY (radian) [0.000, -0.000, 0.457]
            in RPY (degree) [0.000, -0.000, 26.158]

They are the same, minor the tf echo not exactly showing the transform at the same stamp than the topic.