Original repository: https://github.com/koide3/hdl_graph_slam
cd hdl_graph_slam/docker
./build.sh
roscore
rosparam set use_sim_time true
cd hdl_graph_slam/rviz
rviz -d hdl_graph_slam.rviz
rosbag play --clock hdl_400.bag
http://www.aisl.cs.tut.ac.jp/databases/hdl_graph_slam/hdl_400.bag.tar.gz
cd hdl_graph_slam/docker
./run.sh
roslaunch hdl_graph_slam hdl_graph_slam_400.launch