How to test SLAM algorithms on a .bag file?

edit

I have tried to execute different SLAM on .bag file, which I have already recorded I have recorded bag file from simulation environment using the following commands:

1. roslaunch turtlebot3_gazebo navibot_world.launch

• roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
• rosbag record -o ground /scan /tf /odom

I have used the Turtlebot3 GitHub repository from Robotis https://github.com/ROBOTIS-GIT/turtle...

You can download the bag file ground.bag)

After recording bag file I have tried to launch SLAM (gmapping, hector, karto, Cartographer) on this bag file to compare them using the following commands:

roscore

export TURTLEBOT3_MODEL=waffle

roslaunch turtlebot3_bringup turtlebot3_remote.launch

export TURTLEBOT3_MODEL=waffle

rosrun rviz rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_slam.rviz

roscd turtlebot3_slam/bag

rosbag play ./ground.bag

roslaunch turtlebot3_slam turlebot3_slam

<launch>
  <!-- Arguments -->
  <arg name="model" default="waffle" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="slam_methods" default="$(arg slam_methods)" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
  <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
  <arg name="open_rviz" default="true"/>
<param name="use_sim_time" value="true"/>
  <!-- TurtleBot3 -->
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
    <arg name="model" value="$(arg model)" />
  </include>

  <!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map -->
  <include file="$(find turtlebot3_slam)/launch/turtlebot3_$(arg slam_methods).launch">
    <arg name="model" value="$(arg model)"/>
    <arg name="configuration_basename" value="$(arg configuration_basename)"/>
  </include>

  <!-- rviz -->
  <group if="$(arg open_rviz)"> 
    <node pkg="rviz" type="rviz" name="rviz" required="true"
          args="-d $(find turtlebot3_slam)/rviz/turtlebot3_$(arg slam_methods).rviz"/>
  </group>
</launch>

• Copy and Paste your error message on terminal

rosrun rviz rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_slam.rviz

1. Which TurtleBot3 you have?

   • [x ] Waffle

2. Which ROS is working with TurtleBot3?

   • [ x] ROS 1 Kinetic Kame

3. Which SBC(Single Board Computer) is working on TurtleBot3?

   • [ x] Raspberry Pi 3

4. Which OS you installed in SBC?

   • [x ] Ubuntu MATE 16.04 or later

5. Which OS you installed in Remote PC?

   • [ x] Ubuntu 16.04 LTS (Xenial Xerus)

I hope you can help me