how to use bag files with ccny_rgbd

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ubuntu 12.04 and fuerte

Hi,

I want to run the ccny_rgbd with the tum kinect datasets. I am not sure how exaclty to change the setting in launch files and or other files to make them work.

In both launch files, vo+mapping.launch and visual_odometry.launch, i added

<param name="use_sim_time"  value="true" /> 

<remap from="/rgbd/depth" to="/camera/depth/image" />

<remap from="/rgbd/rgb"   to="/camera/rgb/image" />

<remap from="/rgbd/info"  to="/camera/rgb/camera_info" />

and I play the rosbag file with rosbag play --clock option.

Any suggestions to get this to work