Localization using SLAM_Toolbox

edit

Yes, now there is a way to convert from .pgm to a serialized .posegraph and it is using the Ogm2pgbm package!

If you have a changing or dynamic environment, SLAM_toolbox is the way to go for long-term localization! As it is demonstrated here: SLAM_toolbox performs way better than AMCL (achieving twice better accuracy). In the comparison, also Cartographer and GMCL are included!

Hi, if you use SlamToolBox plugin in Rviz, it is easy to do. Yo can save your map by simply typing the map name you want in the box which is next to 'Save Map' button, then press the Save Map button. It saves your map to .Ros directory which you can see by pressing ctrl+h at your home directory. If you do the same with the 'Serialize Map' button it saves the map in the format you need.

SlamToolBox rviz config file is in the config file in Slam_Toolbox package and don't forget to source that location in the terminal where you launch rviz, which i did too :D

Hope it helps