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To run the localization you can go to the computing tab and enable ndt_matching and configure as desired. It requires that you have an apriori map loaded under the "Map" tab.

The LGSVL tutorial appears to run the Demo files, which references ndt_matching.launch which you can find here: file

It only uses the GNSS (GPS) and ndt_matching but not odometry or imu for localization.

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