How to get Google Cartographer to work with velodyne HDL32/VLP16 PCAP files

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I'm trying to get the cartographer to run with HDL32/VLP32/VLP16 pcaps. Anybody know how to setup cartographer to work w/ pcaps? Is there an IRC or forum forum for this project? I've cloned backpack_2d.launch, backpack_2d.urdf, backpack_2d.lua as rick.launch, rick.urdf, rick.lua.

In other programs, like LOAM, I'd launch it, then launch the 'roslaunch velodyne_pointcloud VLP16.launch pcap="blah"' I was hoping to "roslaunch cartographer_ros rick.launch" and then launch the velodyne point cloud pcap. When rviz pops up, I see nothing. But I get the following warning: "[ WARN] [1537812445.970344829]: W0924 14:07:25.000000 22978 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu).

My Lua file:

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 10

return options

My URDF:

<robot name="rick_2d">

  <link name="base_link" />
  <link name="velodyne" />
  <joint name="imu_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="velodyne" />
    <origin xyz="0 0 0" />
  </joint>

</robot>

My Launch File:

<launch>

  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/rick.urdf" />

  <node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename rick.lua"
      output="screen">
    <!-- <remap from="echoes" to="horizontal_laser_2d" /> -->
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />

</launch>