First experience of localization using C++ and RTAB map using saved map

[damavand1]

I installed Ros2 humble on ubuntu 22.04
I installed Rtabmap using this command -> sudo apt install ros-humble-rtabmap-ros
I created 3D map of my room and saved it in db file

now i want to write C++ code that print X,Y,Z,roll,pitch,yaw on screen every 1 second

can you please give me a sample for this ?

[matlabbe]

Did you try ros2 run tf2_ros tf2_echo map base_link 1 (reference) ?