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As @stevemacenski said you will need a valid serialized map to be able to use SLAM Toolbox in localization mode.

You can use the Ogm2Pgbm package to the conversion from a .pgm file to a .posegraph map.

Additionally, if you wanna run the tool in a separate docker container you can follow the instuctions in the readme, considering reserving memory space for the container.

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