how to use rosbag to test costmap/navigation

edit

I modified a costmap in navigation, and I want to use recorded data to test it.

So, I use rosbag record -a -x "(/primesense(.))?(/move_base(.))?" -O test.bag to record all data except pointcloud and move_base

and then use rosbag play --clock test.bag，but things didn't work out.

I changed use_sim_time to ture when rosbag play.