I am building a semi-autonomus outdoor robot that needs to drive to user defined point. It doesn't need a state machine. It's for competition.

The problem: I will be provided a point cloud scan of the area few days before the competition and a few hours to drive around the area. I used rtab-map so far but there isn't a way to import a point cloud to use it for localization.

From my limited testing it works good enough (I don't have the full prototype yet), but I would really like the redudancy of importing a point cloud.

(Or should I think about multi-session mapping as my redudancy?)

Is there better library for my use case or should I just suck it up and hope for the best?

(Bonus question: Any navigation libraries that I should look into other nav2?)