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Node localization obtained by estimating node positions is an essential technique for wireless multi-hop networks. In this paper, we present an optimized link state routing (OLSR)-based localization (ROULA) that satisfies the following key design requirements: (i) Independency from anchor nodes, (ii) robustness for non-convex network topology, and (iii) Compatibility with network protocol. ROULA is independent from anchor nodes and can obtain the correct node positions in non-convex network topology. In addition, ROULA is compatible with OLSR protocol, and it uses the inherent distance characteristic of multipoint relay (MPR) nodes. We reveal characteristics of MPR selection and the farthest 2-hop node selection used in ROULA, and describe how these node selections contribute to reducing the distance error for a localization scheme without ranging devices. We used a simulation to specify appropriate MPR_COVERAGE for ROULA, and give a comparative performance evaluation of ROULA for various scenarios including non-convex network topology and various deployment radii of anchor nodes. Our evaluation proves that ROULA is effective for localization in various network scenarios.