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To use cartographer in pure localization mode, you will need the original .pbtream map. I understand the fact that having a correted or almost perfect map in .pgm is easier, e.g. if you have a floor plan.

But to reuse cartographer with this map you will need to converte it again to .pbtream. To do that you can use the Ogm2Pgbm package.

Additionally, if you wanna run the tool in a separate docker container you can follow the instuctions in the readme.

Have fun, and enjoy the power of graph-based localization! :D

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