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What do you mean by GPS map? Do you have an example? What you do with rtabmap and GPS is to feed it a gps topic on /gps/fix input topic. If you want the GPS values be used as factors in the graph optimization, set Optimizer/PriorsIgnored=false. Also by default Rtabmap/LoopGPS=true, so GPS is used to limit the search for loop closures, helping to avoid some bad loop closures (in particular during multi-session mapping).