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  1. SLAM Toolbox, while I did add in a pure localization setting, is probably not what you want to use unless you have very good odometry and want to work with previous serialized sessions rather than straight occupancy maps. I wouldn't tell you not to try, but the pure localization mode of SLAM Toolbox was built for a specific niche that isn't the general case for most people. The localization quality during a SLAM session though is quite good as long as your robot isn't slipping on ice or being pushed around. You should probably use AMCL, of the open-source options, unless you know specifically what you're doing.

  2. I'm not sure what you mean by this. SLAM Toolbox does SLAM. There is localization during SLAM (the "L") and mapping (the "M"). This is quite good.

  3. It depends on what you're looking for. Do you care about global correctness? Are you just looking for essentially sliding window positioning without long-term loop closures? How long as these sessions you're thinking of? All of these questions would lead me down different directions depending on the answers.