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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!

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