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You actually need these files to launch stereo_vslam_node. They should be at /opt/ros/diamondback/stacks/vslam/vocabulary_tree folder. If not, try to upgrade the vslam package.

Then, you can download the bag file mentioned in the tutorial:

roscd vslam_system wget http://pr.willowgarage.com/data/vslam_system/vslam_tutorial.bag

but according to my experience you have to fix the bag file before using it:

rosbag fix vslam_tutorial.bag vslam_tutorial_fixed.bag

and then you can play it before launching the vslam node:

rosbag play --clock vslam_tutorial_fixed.bag

Regards

Jordi