How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros?

I am able to create a rtabmap using zed, laser and odom according to Kinect + Odometry + 2D laser in this tutorial http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot But this tutorial does not tell how to localise once we start the run again. This tutorial http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping tells how to localise but that way is not working with the previous Kinect + Odom +2D Laser approach. How do I localize? This is what my launch file launches