How to use cartographer with custom maps in gazebo?

edit

I have installed cartographer. I hcould previously use gmapping for on the fly slam and autonomous navigation using turtlebot and a gazebo simulated environment. I followed the following link to do experiments using gazebo and gmapping and do autonomous navigation. http://sauravag.com/2016/10/how-to-se... I want to do the same for cartographer. I want to use a gazebo environment. I will drive around using teleoperation. It will use cartographer to build a slam of the environment and display it on rviz. Can anybody help me with the steps and commands to do it? I want specific terminal commands to do this and necessary changes that have to be made on the configuration and launch files.