Original repository: https://github.com/ethz-asl/ethzasl_icp_mapping
cd ethzasl_icp_mapping/docker
./build.sh
roscore
rosparam set use_sim_time true
cd ethzasl_icp_mapping/docker
rviz -d ethzasl_icp_mapping.rviz
rosbag play --clock hdl_400.bag
http://www.aisl.cs.tut.ac.jp/databases/hdl_graph_slam/hdl_400.bag.tar.gz
cd ethzasl_icp_mapping/docker
./run.sh
roslaunch ethzasl_icp_mapper grizzly_dynamic_mapper_outdoor.launch