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Those aren't valid serialized maps. A valid serialized map files will be .posegraph and .data. This localization mode is exclusive to maps that have been serialized to retain the entire state of the slam session (data, graph constraints, laser properties, etc).

Your issue appears to be try to load a yaml file of a map saved through a map server. This isn't a localization mode built to operate on map _images_, rather than map sesssions themselves. Please review this ROSCon talk where I try to make it very clear that a map is not an image, its a globally consistent representation of the environment and we work with that data for our method.