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If I take care of drifting do I need to print my drifted location of the robot during navigation visualization?

You need to print your location with the drift (or where you think you are after you fix the drift errors) on your visualization of the run time map.

If I use drifting what parameters are input to the runTimeSensor ?

the runTimeSensor has to get your accurate location hence you don't give him dr.true_pos, but dr.estim_pos ! If you don't do it the sensor results will not be accurate and you will have trouble to localize yourself during navigation.