RGBDSLAM evalution run have error [closed]

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I follow this tutorial:[http://www.ros.org/wiki/rgbdslam/evaluation]and have many errors.

Ros:electric,OS:ubuntu 11.10

As his said:

The bagfiles need to be downloaded separately. Execute the following script to do so (Warning: Downloads several gigabytes):

rosrun rgbdslam download_benchmark_files.sh

and I download about 5G data,but it is .tgz filetype,and not .bag filetype. so,the next command is invalid:

for file in ~/ros/rgbdslam/rgbd_benchmark/benchmark_data/*bag; do
  echo $file;
  rosbag decompress $file;
done

I have no .bag file to decompress.

But when I follow this:

The following commands will checkout the packages required for generation of colored octomaps and compile the octomapping stack.

svn co https://alufr-ros-pkg.googlecode.com/svn/branches/octomap_mapping_color ~/ros/octomap_mapping_color
svn co https://code.ros.org/svn/wg-ros-pkg/stacks/motion_planning_common/trunk ~/ros/motion_planning_common
rosmake motion_planning_common
rosmake --rosdep-install octomap_mapping_color

I find rosmake motion_planning_common will error:"error: undefined function ROS_ASSERT",so I add a #include<ros assert.h=""> in the .cpp file.another error about:"ROS::Message",I add a #include<ros message.h=""> and modify message.h file.

and when 'rosmake --rosdep-install octomap_mapping_color' error,I have this error:

 [rosbuild] Downloading http://espresso.informatik.uni-freiburg.de/octomap-latest.tar.gz to build/octomap.tar.gz...Traceback (most recent call last):
    File "/opt/ros/electric/ros/core/rosbuild/bin/download_checkmd5.py", line 56, in <module>
      sys.exit(main())
    File "/opt/ros/electric/ros/core/rosbuild/bin/download_checkmd5.py", line 28, in main
      urllib.urlretrieve(uri, dest)
    File "/usr/lib/python2.7/urllib.py", line 91, in urlretrieve
      return _urlopener.retrieve(url, filename, reporthook, data)
    File "/usr/lib/python2.7/urllib.py", line 237, in retrieve
      fp = self.open(url, data)
    File "/usr/lib/python2.7/urllib.py", line 205, in open
      return getattr(self, name)(url)
    File "/usr/lib/python2.7/urllib.py", line 342, in open_http
      h.endheaders(data)
    File "/usr/lib/python2.7/httplib.py", line 951, in endheaders
      self._send_output(message_body)
    File "/usr/lib/python2.7/httplib.py", line 811, in _send_output
      self.send(msg)
    File "/usr/lib/python2.7/httplib.py", line 773, in send
      self.connect()
    File "/usr/lib/python2.7/httplib.py", line 754, in connect
      self.timeout, self.source_address)
    File "/usr/lib/python2.7/socket.py", line 571, in create_connection
      raise err
  IOError: [Errno socket error] [Errno 111] Connection refused

I find it connect an abandon website:http://espresso.informatik.uni-freiburg.de/octomap-latest.tar.gz ,so I build a octomap.tar.gz from another package(octomap_electric) and put it into octomap/build.

Then have a error like this:"ros/octomap_mapping_color/octomap_ros/src/conversions.cpp:45:114 "should not to use 'inline'...so I delete 'inline' in .cpp

Final error is:"/ros/octomap_mapping_color/octomap_server/src/ColorOctomapServer.cpp:39:24: error:‘class octomap::ColorOcTree’ don't have 'writeConst' member".I look at ColorOcTree.h ,there are no a 'writeConst' function!

This error comes from the file "octomap_mapping_color/octomap_server/src/ColorOctomapServer.cpp". The truth is the new octomap has changed this function's name to be "writeDataConst ... (more)