How can I run in other kitti bag?

[Milalaa]

@wh200720041 Thanks for your sharing! I want to run in the other kitti sequnce bag, but I meet the problem.
Here I run in the KITTI sequnce 08(2011_09_30_0028().
At first, I apply kitti2bag to 2011_09_30_0028(kITTI raw data page), and I get a .bag file.
Then I based on the topics provided in the KITTI 07 package(2011_09_30_0027) provided by the author(I run success)，remap topics of the 2011_09_30_0028.bag in the iscloam.launch.

However, I get this result, I am confused.


8297ca85.png)

I guess the problem is tf,
the KITTI 07 tf:

the KITTI 08 tf:

I have no idea how to deal with it. I hope get your help!