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You can add rtabmap_ros/Info display to RVIZ and look at Loop closures and Proximity detections values. They should increment when a localization occurs.

Another way from terminal, check values of (not null if localization occurs):

$ rostopic echo /rtabmap/info/loopClosureId
$ rostopic echo /rtabmap/info/proximityDetectionId

cheers,
Mathieu

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