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Thank you for your answer. So amcl is the only way to perform localization on a saved map? But in this case I have to use odometry, which is not reliable on our custom robot. Is there any other way to perform localization on a saved map using only laser data? PS: I think that is a pity that this feature is missing in hector_slam, the mapping results are really good and it would be really interesting to use it a complete navigation demo.