First launch the world
roslaunch my_robot world.launch
then followed by the following
roslaunch the following files found in roslaunch my_robot mapping.launch , roslaunch my_robot teleop.launch , roslaunch my_robot localization.launch
rtabmap.db file can be found inside Google Drive Link as the file upload size is too big https://drive.google.com/drive/folders/1N7A3KbzzAoYJEojNcPiSEI1j6Cd8k1UT?usp=sharing
Mapping
Viewing the rtabmap.db using visualizer
Localization
