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How to do Localization and Navigation in 3D using octomap from RGBD-SLAM?

I am using ROS- electric. Now, I am able to built a octomap with the help of RGBDSLAM package. The map is in format '.bt'. Is there any packages available for doing localization and navigation in 3D using this octomap?

How to do Localization and Navigation in 3D using octomap from RGBD-SLAM?

I am using ROS- electric. Now, I am able to built a octomap with the help of RGBDSLAM package. The map is in format '.bt'. Is there any packages available for doing localization and navigation in 3D using this octomap?

How to do Localization and Navigation in 3D using octomap from RGBD-SLAM?

I am using ROS- electric. Now, I am able to built a octomap with the help of RGBDSLAM package. The map is in format '.bt'. Is there any packages available for doing localization and navigation in 3D using this octomap?

Note:localization should be done without using laser.

How to do Localization and Navigation in 3D using octomap from RGBD-SLAM?

I am using ROS- electric. Now, I am able to built a octomap with the help of RGBDSLAM package. The map is in format '.bt'. Is there any packages available for doing localization and navigation in 3D using this octomap?

Note:localization should be done without using laser.

How to do Localization and Navigation in 3D using octomap from RGBD-SLAM?

I am using ROS- electric. Now, I am able to built a octomap with the help of RGBDSLAM package. The map is in format '.bt'. Is there any packages available for doing localization and navigation in 3D using this octomap?

Note:localization should be done without using laser.

How to do Localization and Navigation in 3D using octomap from RGBD-SLAM?

I am using ROS- electric. Now, I am able to built a octomap with the help of RGBDSLAM package. The map is in format '.bt'. Is there any packages available for doing localization and navigation in 3D using this octomap?

Note:localization should be done without using laser.