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Try:

$ rosrun rtabmap_ros rtabmap --Mem/IncrementalMemory false _database_path:=map.db
$ rostopic echo /grid_map

The /grid_map topic will be the static occupancy grid that the navigation stack would subscribe on. The map can be recorded from a different PC but the db version should be older or same than the rtabmap version used on the target PC (an error will be shown if the rtabmap version is older than the db version, if so, just upgrade rtabmap to latest version).