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You cannot create a map with real images, then go localization with this map in a simulated environment. Please do mapping session in the simulated environment. From this turtlebot with RTAB-Map tutorial, follow section 6 (Simulation (Gazebo)) to create a map with Gazebo, then use the following to relaunch in localization mode (like section 2 but with simulation argument):
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch localization:=true simulation:=true
As noted in Section 6, make sure to download the latest demo_turtlebot_maping.launch to have access to simulation argument. Also read the issues about the simulation example in the same section.
cheers
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